相关论文: What data do we need for training an AV motion pla…

This paper presents Deep-PANTHER, a learning-based perception-aware trajectory planner for unmanned aerial vehicles (UAVs) in dynamic environments. Given the current state of the UAV, and the predicted trajectory and size of the obstacle,…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Current methods to learn controllers for autonomous vehicles (AVs) focus on behavioural cloning. Being trained only on exact historic data, the resulting agents often generalize poorly to novel scenarios. Simulators provide the opportunity…

Wearable devices continuously collect sensor data and use it to infer an individual's behavior, such as sleep, physical activity, and emotions. Despite the significant interest and advancements in this field, modeling multimodal sensor data…

Continual learning aims to enable models to adapt to new datasets without losing performance on previously learned data, often assuming that prior data is no longer available. However, in many practical scenarios, both old and new data are…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

Autonomous vehicles (AVs) must share space with pedestrians, both in carriageway cases such as cars at pedestrian crossings and off-carriageway cases such as delivery vehicles navigating through crowds on pedestrianized high-streets. Unlike…

The performance of imitation learning policies often hinges on the datasets with which they are trained. Consequently, investment in data collection for robotics has grown across both industrial and academic labs. However, despite the…

Deep learning based methods for image reconstruction are state-of-the-art for a variety of imaging tasks. However, neural networks often perform worse if the training data differs significantly from the data they are applied to. For…

The goal of imitation learning is to mimic expert behavior without access to an explicit reward signal. Expert demonstrations provided by humans, however, often show significant variability due to latent factors that are typically not…

This paper investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…

Imitation learning has achieved great success in many sequential decision-making tasks, in which a neural agent is learned by imitating collected human demonstrations. However, existing algorithms typically require a large number of…

Robots need robust and flexible vision systems 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…

This paper attempts to address the issues of machine learning in its current implementation. It is known that machine learning algorithms require a significant amount of data for training purposes, whereas recent developments in deep…

One of the biggest challenges in machine learning is data collection. Training data is an important part since it determines how the model will behave. In object classification, capturing a large number of images per object and in different…

Applications of machine learning tools to problems of physical interest are often criticized for producing sensitivity at the expense of transparency. To address this concern, we explore a data planing procedure for identifying combinations…

Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

Instruction tuning plays a critical role in enhancing the performance and efficiency of Large Language Models (LLMs). Its success depends not only on the quality of the instruction data but also on the inherent capabilities of the LLM…