相关论文: Attainment Regions in Feature-Parameter Space for …

For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it…

We consider the problem of estimating bounds on parameters representing tasks being performed by individual robots in a multirobot system. In our previous work, we derived necessary conditions based on persistency of excitation analysis for…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…

Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…

Reinforcement learning has emerged as an important approach for autonomous driving. A reward function is used in reinforcement learning to establish the learned skill objectives and guide the agent toward the optimal policy. Since…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Reinforcement learning (RL) applications, where an agent can simply learn optimal behaviors by interacting with the environment, are quickly gaining tremendous success in a wide variety of applications from controlling simple pendulums to…

This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…

Robot navigation systems are critical for various real-world applications such as delivery services, hospital logistics, and warehouse management. Although classical navigation methods provide interpretability, they rely heavily on expert…

When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…

Domain adaptation, a pivotal branch of transfer learning, aims to enhance the performance of machine learning models when deployed in target domains with distinct data distributions. This is particularly critical for object detection tasks,…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Deep learning has provided new ways of manipulating, processing and analyzing data. It sometimes may achieve results comparable to, or surpassing human expert performance, and has become a source of inspiration in the era of artificial…

Tight coordination is required for effective human-robot teams in domains involving fast dynamics and tactical decisions, such as multi-car racing. In such settings, robot teammates must react to cues of a human teammate's tactical…

The deployment of robot controllers is hindered by modeling discrepancies due to necessary simplifications for computational tractability or inaccuracies in data-generating simulators. Such discrepancies typically require ad-hoc tuning to…

We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…

Learning generalizable visual representations across different embodied environments is essential for effective robotic manipulation in real-world scenarios. However, the limited scale and diversity of robot demonstration data pose a…