相关论文: Differentiable Spatial Planning using Transformers

This paper addresses path set planning that yields important applications in robot manipulation and navigation such as path generation for deformable object keypoints and swarms. A path set refers to the collection of finite agent paths to…

Recent developments in engineering techniques for spatial data collection such as geographic information systems have resulted in an increasing need for methods to analyze large spatial data sets. These sorts of data sets can be found in…

In many real-world scenarios, data to train machine learning models becomes available over time. Unfortunately, these models struggle to continually learn new concepts without forgetting what has been learnt in the past. This phenomenon is…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…

Although Transformer has made breakthrough success in widespread domains especially in Natural Language Processing (NLP), applying it to time series forecasting is still a great challenge. In time series forecasting, the autoregressive…

Accurately predicting interactive road agents' future trajectories and planning a socially compliant and human-like trajectory accordingly are important for autonomous vehicles. In this paper, we propose a planning-centric prediction neural…

Decision trees are renowned for their ability to achieve high predictive performance while remaining interpretable, especially on tabular data. Traditionally, they are constructed through recursive algorithms, where they partition the data…

Path planning is an important component in any highly automated vehicle system. In this report, the general problem of path planning is considered first in partially known static environments where only static obstacles are present but the…

Online state-time trajectory planning in highly dynamic environments remains an unsolved problem due to the unpredictable motions of moving obstacles and the curse of dimensionality from the state-time space. Existing state-time planners…

The brain age has been proven to be a phenotype of relevance to cognitive performance and brain disease. Achieving accurate brain age prediction is an essential prerequisite for optimizing the predicted brain-age difference as a biomarker.…

A clear understanding of where humans move in a scenario, their usual paths and speeds, and where they stop, is very important for different applications, such as mobility studies in urban areas or robot navigation tasks within…

Urban traffic speed prediction aims to estimate the future traffic speed for improving the urban transportation services. Enormous efforts have been made on exploiting spatial correlations and temporal dependencies of traffic speed evolving…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Deep Reinforcement Learning has emerged as an efficient dynamic obstacle avoidance method in highly dynamic environments. It has the potential to replace overly conservative or inefficient navigation approaches. However, the integration of…

The scientific community is able to present a new set of solutions to practical problems that substantially improve the performance of modern technology in terms of efficiency and speed of computation due to the advancement in neural…

We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…

Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…

This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…