相关论文: Dynamic Selection of Perception Models for Robotic…

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…

Drones have recently emerged as a faster, safer, and cost-efficient way for last-mile deliveries of parcels, particularly for urgent medical deliveries highlighted during the pandemic. This paper addresses a new challenge of multi-parcel…

We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…

Signal processing, communications, and control have traditionally relied on classical statistical modeling techniques. Such model-based methods utilize mathematical formulations that represent the underlying physics, prior information and…

Modern deep neural network (DNN) training jobs use complex and heterogeneous software/hardware stacks. The efficacy of software-level optimizations can vary significantly when used in different deployment configurations. It is onerous and…

Deep Neural Networks (DNN) are core components for classification and regression tasks of many software systems. Companies incur in high costs for testing DNN with datasets representative of the inputs expected in operation, as these need…

3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…

Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time…

Perception and decision-making in high-speed dynamic scenarios remain challenging for current robots. In contrast, humans and animals can rapidly perceive and make decisions in such environments. Taking table tennis as a typical example,…

Active perception has been employed in many domains, particularly in the field of robotics. The idea of active perception is to utilize the input data to predict the next action that can help robots to improve their performance. The main…

Dynamics models learned from visual observations have shown to be effective in various robotic manipulation tasks. One of the key questions for learning such dynamics models is what scene representation to use. Prior works typically assume…

Poor sample efficiency continues to be the primary challenge for deployment of deep Reinforcement Learning (RL) algorithms for real-world applications, and in particular for visuo-motor control. Model-based RL has the potential to be highly…

Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

This work presents the design, implementation and validation of learning techniques based on the kNN scheme for gesture detection in prosthetic control. To cope with high computational demands in instance-based prediction, methods of…

Heralded by the initial success in speech recognition and image classification, learning-based approaches with neural networks, commonly referred to as deep learning, have spread across various fields. A primitive form of a neural network…

Drone detection has benefited from improvements in deep neural networks, but like many other applications, suffers from the availability of accurate data for training. Synthetic data provides a potential for low-cost data generation and has…

The widespread use of deep neural networks has achieved substantial success in many tasks. However, there still exists a huge gap between the operating mechanism of deep learning models and human-understandable decision making, so that…

Learning predictive models from observations using deep neural networks (DNNs) is a promising new approach to many real-world planning and control problems. However, common DNNs are too unstructured for effective planning, and current…

Deep neural networks (DNNs) are instrumental in realizing complex perception systems. As many of these applications are safety-critical by design, engineering rigor is required to ensure that the functional insufficiency of the DNN-based…