相关论文: dPMP-Deep Probabilistic Motion Planning: A use cas…

We propose an improved discriminative model prediction method for robust long-term tracking based on a pre-trained short-term tracker. The baseline pre-trained short-term tracker is SuperDiMP which combines the bounding-box regressor of…

We investigate a new task in human motion prediction, which is predicting motions under unexpected physical perturbation potentially involving multiple people. Compared with existing research, this task involves predicting less controlled,…

When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical…

Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization algorithms have parameters that are typically set in advance…

Bridging the gap between motion models and reality is crucial by using limited data to deploy robots in the real world. Deep learning is expected to be generalized to diverse situations while reducing feature design costs through end-to-end…

Contents generated by recent advanced Text-to-Image (T2I) diffusion models are sometimes too imaginative for existing off-the-shelf dense predictors to estimate due to the immitigable domain gap. We introduce DMP, a pipeline utilizing…

This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…

Robotic tasks often require multiple manipulators to enhance task efficiency and speed, but this increases complexity in terms of collaboration, collision avoidance, and the expanded state-action space. To address these challenges, we…

This article introduces a multimodal motion planning (MMP) algorithm that combines three-dimensional (3-D) path planning and a DWA obstacle avoidance algorithm. The algorithms aim to plan the path and motion of obstacle-overcoming robots in…

Planning is a powerful approach to control problems with known environment dynamics. In unknown environments the agent needs to learn a model of the system dynamics to make planning applicable. This is particularly challenging when the…

In this paper, we propose a novel class of Piecewise Deterministic Markov Processes (PDMPs) that are designed to sample from probability distributions $\pi$ supported on a convex set $\mathcal{M}$. This class of PDMPs adapts the concept of…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

Policy learning in robot-assisted surgery (RAS) lacks data efficient and versatile methods that exhibit the desired motion quality for delicate surgical interventions. To this end, we introduce Movement Primitive Diffusion (MPD), a novel…

Motion Planning, as a fundamental technology of automatic navigation for the autonomous vehicle, is still an open challenging issue in the real-life traffic situation and is mostly applied by the model-based approaches. However, due to the…

In recent years, industrial robots have been installed in various industries to handle advanced manufacturing and high precision tasks. However, further integration of industrial robots is hampered by their limited flexibility, adaptability…

Imitation learning techniques have been used as a way to transfer skills to robots. Among them, dynamic movement primitives (DMPs) have been widely exploited as an effective and an efficient technique to learn and reproduce complex discrete…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…