相关论文: Runtime Resolution of Feature Interactions through…

We propose a train rescheduling algorithm which applies a standardized feature selection based on pairwise conflicts in order to serve as input for the reinforcement learning framework. We implement an analytical method which identifies and…

Anomaly detection is a critical and challenging task that aims to identify data points deviating from normal patterns and distributions within a dataset. Various methods have been proposed using a one-class-one-model approach, but these…

We study a class of constrained reinforcement learning (RL) problems in which multiple constraint specifications are not identified before training. It is challenging to identify appropriate constraint specifications due to the undefined…

Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them to move or manipulate things. Contact interactions result from complex physical phenomena, that can be mathematically cast as Nonlinear…

Feature transformation enhances downstream task performance by generating informative features through mathematical feature crossing. Despite the advancements in deep learning, feature transformation remains essential for structured data,…

Safety, reliability, and user trust are crucial in human-robot interaction (HRI) where the robots must address hazards in real-time. This study presents hazard driven low-level control strategies implemented in robot-assisted dressing (RAD)…

Reinforcement learning (RL) algorithms interact with their environment in a trial-and-error fashion. Such interactions can be expensive, inefficient, and timely when learning on a physical system rather than in a simulation. This work…

Reinforcement Learning (RL) has enabled vast performance improvements for robotics systems. To achieve these results though, the agent often must randomly explore the environment, which for safety critical systems presents a significant…

Movement is how people interact with and affect their environment. For realistic character animation, it is necessary to synthesize such interactions between virtual characters and their surroundings. Despite recent progress in character…

Adversarial fine-tuning methods enhance adversarial robustness via fine-tuning the pre-trained model in an adversarial training manner. However, we identify that some specific latent features of adversarial samples are confused by…

The widespread adoption of autonomous systems depends on providing guarantees of safety and functional correctness, at both design time and runtime. Information about the extent to which functional requirements can be met in combination…

Feature fusion is a commonly used strategy in image retrieval tasks, which aggregates the matching responses of multiple visual features. Feasible sets of features can be either descriptors (SIFT, HSV) for an entire image or the same…

Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…

Applications of safety, security, and rescue in robotics, such as multi-robot target tracking, involve the execution of information acquisition tasks by teams of mobile robots. However, in failure-prone or adversarial environments, robots…

Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…

This article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…

Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety…

As air traffic volume is continuously increasing, it has become a priority to improve traffic control algorithms to handle future air travel demand and improve airspace capacity. We address the conflict resolution problem in air traffic…

An oft-ignored challenge of real-world reinforcement learning is that the real world does not pause when agents make learning updates. As standard simulated environments do not address this real-time aspect of learning, most available…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…