相关论文: Semi-supervised Gated Recurrent Neural Networks fo…

Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…

Semi-supervised learning techniques are gaining popularity due to their capability of building models that are effective, even when scarce amounts of labeled data are available. In this paper, we present a framework and specific tasks for…

In this work we present a novel end-to-end framework for tracking and classifying a robot's surroundings in complex, dynamic and only partially observable real-world environments. The approach deploys a recurrent neural network to filter an…

Mobile robots operating in unknown urban environments encounter a wide range of complex terrains to which they must adapt their planned trajectory for safe and efficient navigation. Most existing approaches utilize supervised learning to…

Legged robots must exhibit robust and agile locomotion across diverse, unstructured terrains, a challenge exacerbated under blind locomotion settings where terrain information is unavailable. This work introduces a hierarchical…

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…

Deep neural networks for time series must capture complex temporal patterns, to effectively represent dynamic data. Self- and semi-supervised learning methods show promising results in pre-training large models, which -- when finetuned for…

Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…

Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…

Semi-supervised learning has been well developed to help reduce the cost of manual labelling by exploiting a large quantity of unlabelled data. Especially in the application of land cover classification, pixel-level manual labelling in…

Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…

Mobile ground robots operating on unstructured terrain must predict which areas of the environment they are able to pass in order to plan feasible paths. We address traversability estimation as a heightmap classification problem: we build a…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

Ladder networks are a notable new concept in the field of semi-supervised learning by showing state-of-the-art results in image recognition tasks while being compatible with many existing neural architectures. We present the recurrent…

Nowadays, modern earth observation programs produce huge volumes of satellite images time series (SITS) that can be useful to monitor geographical areas through time. How to efficiently analyze such kind of information is still an open…

Legged robots have the potential to traverse complex terrain and access confined spaces beyond the reach of traditional platforms thanks to their ability to carefully select footholds and flexibly adapt their body posture while walking.…

We present a scalable approach for semi-supervised learning on graph-structured data that is based on an efficient variant of convolutional neural networks which operate directly on graphs. We motivate the choice of our convolutional…

While Semi-supervised learning has gained much attention in computer vision on image data, yet limited research exists on its applicability in the time series domain. In this work, we investigate the transferability of state-of-the-art deep…

Exploring and traversing extreme terrain with surface robots is difficult, but highly desirable for many applications, including exploration of planetary surfaces, search and rescue, among others. For these applications, to ensure the robot…

Self-training, a semi-supervised learning algorithm, leverages a large amount of unlabeled data to improve learning when the labeled data are limited. Despite empirical successes, its theoretical characterization remains elusive. To the…