相关论文: LTS-NET: End-to-end Unsupervised Learning of Long-…

This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…

Detecting Internet routing instability is a critical yet challenging task, particularly when relying solely on endpoint active measurements. This study introduces TRACE, a MachineLearning (ML)pipeline designed to identify route changes…

Lifelong mapping is crucial for the long-term deployment of robots in dynamic environments. In this paper, we present ELite, an ephemerality-aided LiDAR-based lifelong mapping framework which can seamlessly align multiple session data,…

Accurate modeling of nonlinear systems is essential for reliable control, yet conventional identification methods often struggle to capture latent dynamics while maintaining stability. We propose a \textit{stable-by-design LPV neural…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…

This paper shows how an uncertainty-aware, deep neural network can be trained to detect, recognise and localise objects in 2D RGB images, in applications lacking annotated train-ng datasets. We propose a self-supervising teacher-student…

Within the past decade, the rise of applications based on artificial intelligence (AI) in general and machine learning (ML) in specific has led to many significant contributions within different domains. The applications range from robotics…

Robots capable of learning from demonstration (LfD) must exhibit stability while executing learned motion skills. To be effective in the real world, they should also remember multiple skills over time -- a capability lacking in current…

Meta-learning algorithms for active learning are emerging as a promising paradigm for learning the ``best'' active learning strategy. However, current learning-based active learning approaches still require sufficient training data so as to…

Object detection and object tracking are usually treated as two separate processes. Significant progress has been made for object detection in 2D images using deep learning networks. The usual tracking-by-detection pipeline for object…

To support N-1 pre-fault transient stability assessment, this paper introduces a new data collection method in a data-driven algorithm incorporating the knowledge of power system dynamics. The domain knowledge on how the disturbance effect…

Learning complex trajectories from demonstrations in robotic tasks has been effectively addressed through the utilization of Dynamical Systems (DS). State-of-the-art DS learning methods ensure stability of the generated trajectories;…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

The detection of semantic relationships between objects represented in an image is one of the fundamental challenges in image interpretation. Neural-Symbolic techniques, such as Logic Tensor Networks (LTNs), allow the combination of…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

Robots operating in the open world encounter various different environments that can substantially differ from each other. This domain gap also poses a challenge for Simultaneous Localization and Mapping (SLAM) being one of the fundamental…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Vectorized high-definition map online construction has garnered considerable attention in the field of autonomous driving research. Most existing approaches model changeable map elements using a fixed number of points, or predict local maps…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…