相关论文: Multimodal Detection and Identification of Robot M…

This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is…

In this paper, we synthesize a data-driven method to predict the optimal topology of an ad-hoc robot network. This problem is technically a multi-task classification problem. However, we divide it into a class of multi-class classification…

Network intrusion detection systems (NIDSs) play an important role in computer network security. There are several detection mechanisms where anomaly-based automated detection outperforms others significantly. Amid the sophistication and…

A multi-modal machine learning system uses multiple unique data sources and types to improve its performance. This article proposes a system that combines results from several types of models, all of which are trained on different data…

Machine learning models with high accuracy on test data can still produce systematic failures, such as harmful biases and safety issues, when deployed in the real world. To detect and mitigate such failures, practitioners run behavioral…

The perception system for autonomous driving generally requires to handle multiple diverse sub-tasks. However, current algorithms typically tackle individual sub-tasks separately, which leads to low efficiency when aiming at obtaining…

For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…

Meta-learning algorithms enable rapid adaptation to new tasks with minimal data, a critical capability for real-world robotic systems. This paper evaluates Model-Agnostic Meta-Learning (MAML) combined with Trust Region Policy Optimization…

Most multi-robot task allocation methods rely on communication to resolve conflicts and reach consistent assignments. In environments with limited bandwidth, degraded infrastructure, or adversarial interference, existing approaches degrade…

In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…

Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

Myoelectric control systems for assistive devices are still unreliable. The user's input signals can become unstable over time due to e.g. fatigue, electrode displacement, or sweat. Hence, such controllers need to be constantly updated and…

Folding garments reliably and efficiently is a long standing challenge in robotic manipulation due to the complex dynamics and high dimensional configuration space of garments. An intuitive approach is to initially manipulate the garment to…

In hazardous environments like nuclear facilities, robotic systems are essential for executing tasks that would otherwise expose humans to dangerous radiation levels, which pose severe health risks and can be fatal. However, many operations…

Perception is a critical component of high-integrity applications of robotics and autonomous systems, such as self-driving cars. In these applications, failure of perception systems may put human life at risk, and a broad adoption of these…

Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…

A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…