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

Machine learning (ML) has emerged as a powerful tool for tackling complex regression and classification tasks, yet its success often hinges on the quality of training data. This study introduces an ML paradigm inspired by domain knowledge…

Denoising Diffusion Probabilistic Models (DDPMs) are powerful generative deep learning models that have been very successful at image generation, and, very recently, in path planning and control. In this paper, we investigate how to…

Pick-up and Delivery Route Prediction (PDRP), which aims to estimate the future service route of a worker given his current task pool, has received rising attention in recent years. Deep neural networks based on supervised learning have…

The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…

The paper presents a novel deep learning approach, which extracts latent information from trained Deep Neural Networks (DNNs) and derives concise representations that are analyzed in an effective, unified way for prediction purposes. It is…

Sequential decision problems in applications such as manipulation in warehouses, multi-step meal preparation, and routing in autonomous vehicle networks often involve reasoning about uncertainty, planning over discrete modes as well as…

Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but faces predictive uncertainty. This uncertainty leads to…

Using movement primitive libraries is an effective means to enable robots to solve more complex tasks. In order to build these movement libraries, current algorithms require a prior segmentation of the demonstration trajectories. A…

Domain Generalized Semantic Segmentation (DGSS) is a critical yet challenging task, as domain shifts in unseen environments can severely compromise model performance. While recent studies enhance feature alignment by projecting features…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

Learning the dynamics of spatiotemporal events is a fundamental problem. Neural point processes enhance the expressivity of point process models with deep neural networks. However, most existing methods only consider temporal dynamics…

The objective of this work is to augment the basic abilities of a robot by learning to use sensorimotor primitives to solve complex long-horizon manipulation problems. This requires flexible generative planning that can combine primitive…

Developing autonomous robots capable of learning and reproducing complex motions from demonstrations remains a fundamental challenge in robotics. On the one hand, movement primitives (MPs) provide a compact and modular representation of…

Current robotic planning methods often rely on predicting multi-frame images with full pixel details. While this fine-grained approach can serve as a generic world model, it introduces two significant challenges for downstream policy…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

We propose a novel model-based reinforcement learning algorithm -- Dynamics Learning and predictive control with Parameterized Actions (DLPA) -- for Parameterized Action Markov Decision Processes (PAMDPs). The agent learns a…

We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

This research introduces MP-RBFN, a novel formulation leveraging Radial Basis Function Networks for efficiently learning Motion Primitives derived from optimal control problems for autonomous driving. While traditional motion planning…

Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capture second-order trajectory dynamics, incorporating…