相关论文: Neuro-Planner: A 3D Visual Navigation Method for M…

The autonomous exploration of environments by multi-robot systems is a critical task with broad applications in rescue missions, exploration endeavors, and beyond. Current approaches often rely on either greedy frontier selection or…

Spiking Neural Networks (SNNs) are developed as a promising alternative to Artificial Neural networks (ANNs) due to their more realistic brain-inspired computing models. SNNs have sparse neuron firing over time, i.e., spatio-temporal…

The use of machine learning in the self-driving industry has boosted a number of recent advancements. In particular, the usage of large deep learning models in the perception and prediction stack have proved quite successful, but there…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

The trade-off between computation time and path optimality is a key consideration in motion planning algorithms. While classical sampling based algorithms fall short of computational efficiency in high dimensional planning, learning based…

This study proposes a hybrid curriculum reinforcement learning (CRL) framework based on a fully spiking neural network (SNN) for 9-degree-of-freedom robotic arms performing target reaching and grasping tasks. To reduce network complexity…

Mixed-signal analog/digital circuits emulate spiking neurons and synapses with extremely high energy efficiency, an approach known as "neuromorphic engineering". However, analog circuits are sensitive to process-induced variation among…

Spiking Neural Networks (SNNs) are considered to have enormous potential in the future development of Artificial Intelligence due to their brain-inspired and energy-efficient properties. Compared to vanilla Spatial-Temporal Back-propagation…

As a fundamental problem for Artificial Intelligence, multi-agent system (MAS) is making rapid progress, mainly driven by multi-agent reinforcement learning (MARL) techniques. However, previous MARL methods largely focused on grid-world…

Biological agents navigate complex environments by combining long-term memory of successful actions with short-term suppression of recently visited locations-a capability that remains difficult to replicate in artificial systems, especially…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Navigation is a critical aspect of autonomous underwater vehicles (AUVs) operating in complex underwater environments. Since global navigation satellite system (GNSS) signals are unavailable underwater, navigation relies on inertial…

This paper introduces a novel framework for robotic vision-based navigation that integrates Hybrid Neural Networks (HNNs) with Spiking Neural Network (SNN)-based filtering to enhance situational awareness for unmodeled obstacle detection…

This study introduces a novel supervised learning approach for spiking neural networks that does not rely on traditional backpropagation. Instead, it employs spike-timing-dependent plasticity (STDP) within a supervised framework for image…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Deep Reinforcement Learning has been successfully applied in various computer games [8]. However, it is still rarely used in real-world applications, especially for the navigation and continuous control of real mobile robots [13]. Previous…

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…

Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…

Autonomous UAV flight in confined, wall-dense environments requires low-latency and reliable motion planning under strict safety constraints. Traditional optimization-based planners suffer from mapping latency and easily fall into local…

Spiking Neural Networks (SNNs) have attracted enormous research interest due to temporal information processing capability, low power consumption, and high biological plausibility. However, the formulation of efficient and high-performance…