相关论文: Simulation-to-reality UAV Fault Diagnosis with Dee…

The last decade's research in artificial intelligence had a significant impact on the advance of autonomous driving. Yet, safety remains a major concern when it comes to deploying such systems in high-risk environments. The objective of…

Bearing fault diagnosis in rotating machinery is critical for ensuring operational reliability, therefore early fault detection is essential to avoid catastrophic failures and expensive emergency repairs. Traditional methods like Fast…

Deep Reinforcement Learning (DRL) offers a robust alternative to traditional control methods for autonomous underwater docking, particularly in adapting to unpredictable environmental conditions. However, bridging the "sim-to-real" gap and…

This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…

The fault diagnostic model trained for a laboratory case machine fails to perform well on the industrial machines running under variable operating conditions. For every new operating condition of such machines, a new diagnostic model has to…

In this paper, we introduce the notion of neural simulation gap functions, which formally quantifies the gap between the mathematical model and the model in the high-fidelity simulator, which closely resembles reality. Many times, a…

Motor bearing fault detection (MBFD) is critical for maintaining the reliability and operational efficiency of industrial machinery. Early detection of bearing faults can prevent system failures, reduce operational downtime, and lower…

Executing precise and agile flight maneuvers is critical for quadrotors in various applications. Traditional quadrotor control approaches are limited by their reliance on flat trajectories or time-consuming optimization, which restricts…

Early and accurately detecting faults in rotating machinery is crucial for operation safety of the modern manufacturing system. In this paper, we proposed a novel Deep fault diagnosis (DFD) method for rotating machinery with scarce labeled…

Deep Learning (DL) systems have proliferated in many applications, requiring specialized hardware accelerators and chips. In the nano-era, devices have become increasingly more susceptible to permanent and transient faults. Therefore, we…

Deep Reinforcement Learning (DRL) for quadrotor flight control typically relies on Domain Randomization (DR) for sim-to-real transfer, resulting in overly conservative policies that struggle with dynamic disturbances. To overcome this, we…

Despite the rapid development of AI models in medical image analysis, their validation in real-world clinical settings remains limited. To address this, we introduce a generic framework designed for deploying image-based AI models in such…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…

Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based optimization algorithms to find the simulation parameters that best fit the observed sensor readings. Nonetheless,…

Applications of reinforcement learning (RL) to stabilization problems of real systems are restricted since an agent needs many experiences to learn an optimal policy and may determine dangerous actions during its exploration. If we know a…

Deep reinforcement learning has recently seen huge success across multiple areas in the robotics domain. Owing to the limitations of gathering real-world data, i.e., sample inefficiency and the cost of collecting it, simulation environments…

Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…

We study the problem of actively learning a classifier with a low calibration error. One of the most popular Acquisition Functions (AFs) in pool-based Active Learning (AL) is querying by the model's uncertainty. However, we recognize that…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…