相关论文: Task-Oriented Cross-System Design for Timely and A…

In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

This paper addresses the challenge of edge caching in dynamic environments, where rising traffic loads strain backhaul links and core networks. We propose a Proximal Policy Optimization (PPO)-based caching strategy that fully incorporates…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy…

This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…

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…

This paper presents a constrained-optimization formulation for the prioritized execution of learned robot tasks. The framework lends itself to the execution of tasks encoded by value functions, such as tasks learned using the reinforcement…

Group Relative Policy Optimization (GRPO) has shown promise in discrete action spaces by eliminating value function dependencies through group-based advantage estimation. However, its application to continuous control remains unexplored,…

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

This paper addresses key challenges in task scheduling for multi-tenant distributed systems, including dynamic resource variation, heterogeneous tenant demands, and fairness assurance. An adaptive scheduling method based on reinforcement…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

The process of robot design is a complex task and the majority of design decisions are still based on human intuition or tedious manual tuning. A more informed way of facing this task is computational design methods where design parameters…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

In this paper, we propose a Risk-Averse Priced Timed Automata (PTA) Model Predictive Control (MPC) framework to increase flexibility of cyber-physical systems. To improve flexibility in these systems, our risk-averse framework solves a…

Proximal Policy Optimization (PPO) has been broadly applied to robotics learning, showcasing stable training performance. However, the fixed clipping bound setting may limit the performance of PPO. Specifically, there is no theoretical…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

Task and Motion Planning (TAMP) algorithms solve long-horizon robotics tasks by integrating task planning with motion planning; the task planner proposes a sequence of actions towards a goal state and the motion planner verifies whether…

In this paper we propose a method for applications oriented input design for linear systems under time-domain constraints on the amplitude of input and output signals. The method guarantees a desired control performance for the estimated…