相关论文: Cross-Modal Contrastive Learning of Representation…

In Magnetic Resonance Imaging (MRI), image acquisitions are often undersampled in the measurement domain to accelerate the scanning process, at the expense of image quality. However, image quality is a crucial factor that influences the…

Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…

Deep reinforcement learning (DRL) demonstrates great potential in mapless navigation domain. However, such a navigation model is normally restricted to a fixed configuration of the range sensor because its input format is fixed. In this…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To…

Motivated by the growing interest in integrated sensing and communication for 6th generation (6G) networks, this paper presents a cognitive Multiple-Input Multiple-Output (MIMO) radar system enhanced by reinforcement learning (RL) for…

Improving sample efficiency is a key research problem in reinforcement learning (RL), and CURL, which uses contrastive learning to extract high-level features from raw pixels of individual video frames, is an efficient…

Automated driving at unsignalized intersections is challenging due to complex multi-vehicle interactions and the need to balance safety and efficiency. Model Predictive Control (MPC) offers structured constraint handling through…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

Reinforcement Learning (RL) has presented an impressive performance in video games through raw pixel imaging and continuous control tasks. However, RL performs poorly with high-dimensional observations such as raw pixel images. It is…

Soft robotic crawlers are mobile robots that utilize soft body deformability and compliance to achieve locomotion through surface contact. Designing control strategies for such systems is challenging due to model inaccuracies, sensor noise,…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

In this paper, a novel deep reinforcement learning (DRL)-based method is proposed to navigate the robot team through unknown complex environments, where the geometric centroid of the robot team aims to reach the goal position while avoiding…

Deep Reinforcement learning (DRL) is used to enable autonomous navigation in unknown environments. Most research assume perfect sensor data, but real-world environments may contain natural and artificial sensor noise and denial. Here, we…

This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasserstein Autoencoder that learns shared latent representations…

Low-cost cross-modal representation learning is crucial for deriving semantic representations across diverse modalities such as text, audio, images, and video. Traditional approaches typically depend on large specialized models trained from…

Long-range indoor navigation requires guiding robots with noisy sensors and controls through cluttered environments along paths that span a variety of buildings. We achieve this with PRM-RL, a hierarchical robot navigation method in which…

Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…

Self-supervised Contrastive Learning (CL) has been recently shown to be very effective in preventing deep networks from overfitting noisy labels. Despite its empirical success, the theoretical understanding of the effect of contrastive…