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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,…

Vision Language Navigation (VLN) requires agents to follow natural language instructions by grounding them in sequential visual observations over long horizons. Explicit reasoning could enhance temporal consistency and perception action…

While vision and multimodal foundation models underpin critical tasks from perception to complex reasoning, they remain highly vulnerable to adversarial attacks. However, traditional adversarial attacks are typically limited to single,…

Adversarial training is promising for improving robustness of deep neural networks towards adversarial perturbations, especially on the classification task. The effect of this type of training on semantic segmentation, contrarily, just…

Ideally, what confuses neural network should be confusing to humans. However, recent experiments have shown that small, imperceptible perturbations can change the network prediction. To address this gap in perception, we propose a novel…

Autonomous agents deployed in the real world need to be robust against adversarial attacks on sensory inputs. Robustifying agent policies requires anticipating the strongest attacks possible. We demonstrate that existing observation-space…

Despite significant advancements in deep reinforcement learning (DRL)-based autonomous driving policies, these policies still exhibit vulnerability to adversarial attacks. This vulnerability poses a formidable challenge to the practical…

Trajectory prediction using deep neural networks (DNNs) is an essential component of autonomous driving (AD) systems. However, these methods are vulnerable to adversarial attacks, leading to serious consequences such as collisions. In this…

The forecast of electrical loads is essential for the planning and operation of the power system. Recently, advances in deep learning have enabled more accurate forecasts. However, deep neural networks are prone to adversarial attacks.…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Neural networks have changed the way machines interpret the world. At their core, they learn by following gradients, adjusting their parameters step by step until they identify the most discriminant patterns in the data. This process gives…

Machine learning classifiers are known to be vulnerable to inputs maliciously constructed by adversaries to force misclassification. Such adversarial examples have been extensively studied in the context of computer vision applications. In…

This paper presents a deep learning approach to aid dead-reckoning (DR) navigation using a limited sensor suite. A Recurrent Neural Network (RNN) was developed to predict the relative horizontal velocities of an Autonomous Underwater…

The Vision-and-Language Navigation (VLN) task requires an agent to follow natural language instructions and navigate through complex environments. Existing MLLM-based VLN methods primarily rely on imitation learning (IL) and often use…

Domain-adaptive trajectory imitation is a skill that some predators learn for survival, by mapping dynamic information from one domain (their speed and steering direction) to a different domain (current position of the moving prey). An…

This paper develops a Deep Reinforcement Learning (DRL)-agent for navigation and control of autonomous surface vessels (ASV) on inland waterways. Spatial restrictions due to waterway geometry and the resulting challenges, such as high flow…

Although deep reinforcement learning has recently been very successful at learning complex behaviors, it requires a tremendous amount of data to learn a task. One of the fundamental reasons causing this limitation lies in the nature of the…

Deep reinforcement learning (RL) has brought many successes for autonomous robot navigation. However, there still exists important limitations that prevent real-world use of RL-based navigation systems. For example, most learning approaches…

Class incremental learning approaches are useful as they help the model to learn new information (classes) sequentially, while also retaining the previously acquired information (classes). However, it has been shown that such approaches are…

Machine learning and deep learning in particular has advanced tremendously on perceptual tasks in recent years. However, it remains vulnerable against adversarial perturbations of the input that have been crafted specifically to fool the…