相关论文: Feedback from Pixels: Output Regulation via Learni…

We present PIXLRelight, a feed-forward approach for physically controllable single-image relighting. Existing methods either provide limited lighting control (e.g. through text or environment maps), accumulate errors when chaining inverse…

A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…

Learning with neural networks from a continuous stream of visual information presents several challenges due to the non-i.i.d. nature of the data. However, it also offers novel opportunities to develop representations that are consistent…

Autonomous intelligent agents must bridge computational challenges at disparate levels of abstraction, from the low-level spaces of sensory input and motor commands to the high-level domain of abstract reasoning and planning. A key question…

System Level Synthesis (SLS) allows us to construct internally stabilizing controllers for large-scale systems. However, solving large-scale SLS problems is computationally expensive and the state-of-the-art methods consider only state…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…

We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…

We present the first study of cross-sensor view synthesis across different modalities. We examine a practical, fundamental, yet widely overlooked problem: getting aligned RGB-X data, where most RGB-X prior work assumes such pairs exist and…

Personalized image generation, where reference images of one or more subjects are used to generate their image according to a scene description, has gathered significant interest in the community. However, such generated images suffer from…

We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…

This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…

We present SPSG, a novel approach to generate high-quality, colored 3D models of scenes from RGB-D scan observations by learning to infer unobserved scene geometry and color in a self-supervised fashion. Our self-supervised approach learns…

We propose a novel sampled-data output-feedback controller for nonlinear systems of arbitrary relative degree that ensures reference tracking within prescribed error bounds. We provide explicit bounds on the maximum input signal and the…

In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…

We introduce Embed to Control (E2C), a method for model learning and control of non-linear dynamical systems from raw pixel images. E2C consists of a deep generative model, belonging to the family of variational autoencoders, that learns to…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…

Simultaneous reconstruction of geometry and reflectance properties in uncontrolled environments remains a challenging problem. In this paper, we propose an efficient method to reconstruct the scene's 3D geometry and reflectance from…

Synthesizing a novel view from a single input image is a challenging task. Traditionally, this task was approached by estimating scene depth, warping, and inpainting, with machine learning models enabling parts of the pipeline. More…