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

Reinforcement learning is a powerful technique for developing new robot behaviors. However, typical lack of safety guarantees constitutes a hurdle for its practical application on real robots. To address this issue, safe reinforcement…

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

Learning-based behavior prediction methods are increasingly being deployed in real-world autonomous systems, e.g., in fleets of self-driving vehicles, which are beginning to commercially operate in major cities across the world. Despite…

This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating a common object through synchronous centralized update laws…

With the widespread deployment of deep learning models, they influence their environment in various ways. The induced distribution shifts can lead to unexpected performance degradation in deployed models. Existing methods to anticipate…

Despite advances in hierarchical reinforcement learning, its applications to path planning in autonomous driving on highways are challenging. One reason is that conventional hierarchical reinforcement learning approaches are not amenable to…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage of unsafe states. This limitation leads…

Combination of machine learning (for generating machine intelligence), computer vision (for better environment perception), and robotic systems (for controlled environment interaction) motivates this work toward proposing a vision-based…

Prior to the deployment of robotic systems, pre-training the deep-recognition models on all potential visual cases is infeasible in practice. Hence, test-time adaptation (TTA) allows the model to adapt itself to novel environments and…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

We consider a novel approach to high-level robot task execution for a robot assistive task. In this work we explore the problem of learning to predict the next subtask by introducing a deep model for both sequencing goals and for visually…

This paper describes an integrated solution to the problem of describing and interpreting goals for robots in open uncertain domains. Given a formal specification of a desired situation, in which objects are described only by their…

Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…

Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…

This paper presents a method for achieving high-speed running of a quadruped robot by considering the actuator torque-speed operating region in reinforcement learning. The physical properties and constraints of the actuator are included in…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

In many real-world continuous action domains, human agents must decide which actions to attempt and then execute those actions to the best of their ability. However, humans cannot execute actions without error. Human performance in these…

A variety of autonomous navigation algorithms exist that allow robots to move around in a safe and fast manner. However, many of these algorithms require parameter re-tuning when facing new environments. In this paper, we propose PTDRL, a…

Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…