相关论文: Train What You Know -- Precise Pick-and-Place with…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

This paper proposes a novel machine-learning approach for predicting AC-OPF solutions that features a fast and scalable training. It is motivated by the two critical considerations: (1) the fact that topology optimization and the…

Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model predictive control (MPC) with function approximation via (deep) neural networks (NNs).…

Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…

The high computational and parameter complexity of neural networks makes their training very slow and difficult to deploy on energy and storage-constrained computing systems. Many network complexity reduction techniques have been proposed…

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…

We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…

Learning the structure of a network from time series data, in particular cyclostationary data, is of significant interest in many disciplines such as power grids, biology and finance. In this article, an algorithm is presented for…

Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations. However, the current sim-and-real training is neither efficient, i.e., slow convergence to the optimal policy, nor effective, i.e., sizeable…

In this project we trained a neural network to perform specific interactions between a robot and objects in the environment, through imitation learning. In particular, we tackle the task of moving the robot to a fixed pose with respect to a…

Parameter-efficient fine-tuning approaches have recently garnered a lot of attention. Having considerably lower number of trainable weights, these methods can bring about scalability and computational effectiveness. In this paper, we look…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…

Predicting the next visited location of an individual is a key problem in human mobility analysis, as it is required for the personalization and optimization of sustainable transport options. Here, we propose a transformer decoder-based…

In open-ended continuous environments, robots need to learn multiple parameterised control tasks in hierarchical reinforcement learning. We hypothesise that the most complex tasks can be learned more easily by transferring knowledge from…

In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…

A novel approach is suggested for improving the accuracy of fault detection in distribution networks. This technique combines adaptive probability learning and waveform decomposition to optimize the similarity of features. Its objective is…

En Route Travel Time Estimation (ER-TTE) aims to learn driving patterns from traveled routes to achieve rapid and accurate real-time predictions. However, existing methods ignore the complexity and dynamism of real-world traffic systems,…

In inductive transfer learning, fine-tuning pre-trained convolutional networks substantially outperforms training from scratch. When using fine-tuning, the underlying assumption is that the pre-trained model extracts generic features, which…

Over the last few years, we have witnessed tremendous progress on many subtasks of autonomous driving, including perception, motion forecasting, and motion planning. However, these systems often assume that the car is accurately localized…