相关论文: [Re] Differentiable Spatial Planning using Transfo…

State-of-the-art motion planners cannot scale to a large number of systems. Motion planning for multiple agents is an NP (non-deterministic polynomial-time) hard problem, so the computation time increases exponentially with each addition of…

Replanning in temporal logic tasks is extremely difficult during the online execution of robots. This study introduces an effective path planner that computes solutions for temporal logic goals and instantly adapts to non-static and…

Adversarial methods for imitation learning have been shown to perform well on various control tasks. However, they require a large number of environment interactions for convergence. In this paper, we propose an end-to-end differentiable…

In this paper, we study the performance of spatial modulation based on reconfigurable antennas. Two main contributions are provided. We introduce an analytical framework to compute the error probability, which is shown to be accurate and…

Autonomous navigation in off-road environments remains a significant challenge in field robotics, particularly for Unmanned Ground Vehicles (UGVs) tasked with search and rescue, exploration, and surveillance. Effective long-range planning…

Pre-trained language models demonstrate general intelligence and common sense, but long inputs quickly become a bottleneck for memorizing information at inference time. We resurface a simple method, Memorizing Transformers (Wu et al.,…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Robotic systems may frequently come across similar manipulation planning problems that result in similar motion plans. Instead of planning each problem from scratch, it is preferable to leverage previously computed motion plans, i.e.,…

Trajectory prediction and planning are fundamental yet disconnected components in autonomous driving. Prediction models forecast surrounding agent motion under unknown intentions, producing multimodal distributions, while planning assumes…

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…

Planners using accurate models can be effective for accomplishing manipulation tasks in the real world, but are typically highly specialized and require significant fine-tuning to be reliable. Meanwhile, learning is useful for adaptation,…

Mapping the surrounding environment is essential for the successful operation of autonomous robots. While extensive research has focused on mapping geometric structures and static objects, the environment is also influenced by the movement…

Action planning using learned and differentiable forward models of the world is a general approach which has a number of desirable properties, including improved sample complexity over model-free RL methods, reuse of learned models across…

Spatial grounding, the process of associating natural language expressions with corresponding image regions, has rapidly advanced due to the introduction of transformer-based models, significantly enhancing multimodal representation and…

Transformer is a promising neural network learner, and has achieved great success in various machine learning tasks. Thanks to the recent prevalence of multimodal applications and big data, Transformer-based multimodal learning has become a…

Transformers have demonstrated effectiveness in in-context solving data-fitting problems from various (latent) models, as reported by Garg et al. However, the absence of an inherent iterative structure in the transformer architecture…

Mapping and localization, preferably from a small number of observations, are fundamental tasks in robotics. We address these tasks by combining spatial structure (differentiable mapping) and end-to-end learning in a novel neural network…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…