相关论文: Learning Optimal Decision Making for an Industrial…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Evaluating learned robot control policies to determine their physical task-level capabilities costs experimenter time and effort. The growing number of policies and tasks exacerbates this issue. It is impractical to test every policy on…

Through many recent successes in simulation, model-free reinforcement learning has emerged as a promising approach to solving continuous control robotic tasks. The research community is now able to reproduce, analyze and build quickly on…

Mathematical optimization is a fundamental tool for decision-making in a wide range of applications. However, in many real-world scenarios, the parameters of the optimization problem are not known a priori and must be predicted from…

This paper concerns the study of optimal (supremum and infimum) uncertainty bounds for systems where the input (or prior) probability measure is only partially/imperfectly known (e.g., with only statistical moments and/or on a coarse…

Many robotic applications that are critical for robot performance require immediate feedback, hence execution time is a critical concern. Furthermore, it is common that robots come with a fixed quantity of hardware resources; if an…

Uncertainty in optimization is often represented as stochastic parameters in the optimization model. In Predict-Then-Optimize approaches, predictions of a machine learning model are used as values for such parameters, effectively…

Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…

Decision tree learning is a widely used approach in machine learning, favoured in applications that require concise and interpretable models. Heuristic methods are traditionally used to quickly produce models with reasonably high accuracy.…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

Optimizing the consolidation process in container-based fulfillment centers requires trading off competing objectives such as processing speed, resource usage, and space utilization while adhering to a range of real-world operational…

In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…

A robot can invoke heterogeneous computation resources such as CPUs, cloud GPU servers, or even human computation for achieving a high-level goal. The problem of invoking an appropriate computation model so that it will successfully…

To solve tasks in complex environments, robots need to learn from experience. Deep reinforcement learning is a common approach to robot learning but requires a large amount of trial and error to learn, limiting its deployment in the…

While deep reinforcement learning techniques have recently produced considerable achievements on many decision-making problems, their use in robotics has largely been limited to simulated worlds or restricted motions, since unconstrained…

Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…

We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…