相关论文: Deep Segmented DMP Networks for Learning Discontin…

Deep convolutional neural networks (CNNs) have shown excellent performance in object recognition tasks and dense classification problems such as semantic segmentation. However, training deep neural networks on large and sparse datasets is…

Deep neural networks (DNNs) must cater to a variety of users with different performance needs and budgets, leading to the costly practice of training, storing, and maintaining numerous user/task-specific models. There are solutions in the…

Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases…

We present TDNet, a temporally distributed network designed for fast and accurate video semantic segmentation. We observe that features extracted from a certain high-level layer of a deep CNN can be approximated by composing features…

Motion boundary detection is a crucial yet challenging problem. Prior methods focus on analyzing the gradients and distributions of optical flow fields, or use hand-crafted features for motion boundary learning. In this paper, we propose…

The long short-term memory (LSTM) neural network is capable of processing complex sequential information since it utilizes special gating schemes for learning representations from long input sequences. It has the potential to model any…

The dynamic motion primitive-based (DMP) method is an effective method of learning from demonstrations. However, most of the current DMP-based methods focus on learning one task with one module. Although, some deep learning-based frameworks…

Many techniques have been developed, such as model compression, to make Deep Neural Networks (DNNs) inference more efficiently. Nevertheless, DNNs still lack excellent run-time dynamic inference capability to enable users trade-off accuracy…

Deep neural networks (DNNs) have achieved great success in the area of computer vision. The disparity estimation problem tends to be addressed by DNNs which achieve much better prediction accuracy in stereo matching than traditional…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

We propose a novel deep neural network (DNN) based approximation architecture to learn estimates of measurements. We detail an algorithm that enables training of the DNN. The DNN estimator only uses measurements, if and when they are…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Long-range and short-range temporal modeling are two complementary and crucial aspects of video recognition. Most of the state-of-the-arts focus on short-range spatio-temporal modeling and then average multiple snippet-level predictions to…

In this paper, we propose two novel decentralized optimization frameworks for multi-agent nonlinear optimal control problems in robotics. The aim of this work is to suggest architectures that inherit the computational efficiency and…

In this paper, we propose a phase shift deep neural network (PhaseDNN) which provides a wideband convergence in approximating a high dimensional function during its training of the network. The PhaseDNN utilizes the fact that many DNN…

Let us rethink the real-world scenarios that require human motion prediction techniques, such as human-robot collaboration. Current works simplify the task of predicting human motions into a one-off process of forecasting a short future…

This paper introduces deep neural networks (DNNs) as add-on blocks to baseline feedback control systems to enhance tracking performance of arbitrary desired trajectories. The DNNs are trained to adapt the reference signals to the feedback…

Cardiac motion estimation and segmentation play important roles in quantitatively assessing cardiac function and diagnosing cardiovascular diseases. In this paper, we propose a novel deep learning method for joint estimation of motion and…

Dynamical systems models such as recurrent neural networks (RNNs) are increasingly popular in theoretical neuroscience for hypothesis-generation and data analysis. Evaluating the dynamics in such models is key to understanding their learned…

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;…