相关论文: RoSSO: A High-Performance Python Package for Robot…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…

We introduce mlOSP, a computational template for Machine Learning for Optimal Stopping Problems. The template is implemented in the R statistical environment and publicly available via a GitHub repository. mlOSP presents a unified numerical…

Road damage detection is a critical task for ensuring traffic safety and maintaining infrastructure integrity. While deep learning-based detection methods are now widely adopted, they still face two core challenges: first, the inadequate…

We study packetized predictive control, known to be robust against packet dropouts in networked systems. To obtain sparse packets for rate-limited networks, we design control packets via an L0 optimization, which can be effectively solved…

We study finite horizon optimal switching problems for hidden Markov chain models under partially observable Poisson processes. The controller possesses a finite range of strategies and attempts to track the state of the unobserved state…

The effective design of patrol strategies is a difficult and complex problem, especially in medium and large areas. The objective is to plan, in a coordinated manner, the optimal routes for a set of patrols in a given area, in order to…

On-policy reinforcement learning methods, like Trust Region Policy Optimization (TRPO) and Proximal Policy Optimization (PPO), often demand extensive data per update, leading to sample inefficiency. This paper introduces Reflective Policy…

We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…

Ensuring safety is important for the practical deployment of reinforcement learning (RL). Various challenges must be addressed, such as handling stochasticity in the environments, providing rigorous guarantees of persistent state-wise…

In the classical Reinforcement Learning from Human Feedback (RLHF) framework, Proximal Policy Optimization (PPO) is employed to learn from sparse, sentence-level rewards -- a challenging scenario in traditional deep reinforcement learning.…

Reinforcement Learning (RL) algorithms have shown tremendous success in simulation environments, but their application to real-world problems faces significant challenges, with safety being a major concern. In particular, enforcing…

PySensors is a Python package for selecting and placing a sparse set of sensors for classification and reconstruction tasks. Specifically, PySensors implements algorithms for data-driven sparse sensor placement optimization for…

Multi-Agent Reinforcement Learning (MARL) has become a classic paradigm to solve diverse, intelligent control tasks like autonomous driving in Internet of Vehicles (IoV). However, the widely assumed existence of a central node to implement…

Many machine learning algorithms minimize a regularized risk, and stochastic optimization is widely used for this task. When working with massive data, it is desirable to perform stochastic optimization in parallel. Unfortunately, many…

In the rapidly evolving landscape of wireless networks, achieving enhanced throughput with low latency for data transmission is crucial for future communication systems. While low complexity OSPF-type solutions have shown effectiveness in…

Instance Space Analysis is a methodology to evaluate algorithm performance across diverse problem fields. Through visualisation and exploratory data analysis techniques, Instance Space Analysis offers objective, data-driven insights into…

We propose Multi Agent Reflective Policy Optimization (MARPO) to alleviate the issue of sample inefficiency in multi agent reinforcement learning. MARPO consists of two key components: a reflection mechanism that leverages subsequent…

Joint sparsity offers powerful structural cues for feature selection, especially for variables that are expected to demonstrate a "grouped" behavior. Such behavior is commonly modeled via group-lasso, multitask lasso, and related methods…

Large reasoning models (LRMs) exhibit diverse high-level reasoning patterns (e.g., direct solution, reflection-and-verification, and exploring multiple solutions), yet prevailing training recipes implicitly bias models toward a limited set…

The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…