相关论文: Task-Oriented Active Learning of Model Preconditio…

The rising demand for Active Safety systems in automotive applications stresses the need for a reliable short to mid-term trajectory prediction. Anticipating the unfolding path of road users, one can act to increase the overall safety. In…

A popular way to plan trajectories in dynamic urban scenarios for Autonomous Vehicles is to rely on explicitly specified and hand crafted cost functions, coupled with random sampling in the trajectory space to find the minimum cost…

Learning-based model predictive control has been widely applied in autonomous racing to improve the closed-loop behaviour of vehicles in a data-driven manner. When environmental conditions change, e.g., due to rain, often only the…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

We propose a multiscale approach for predicting quantities in dynamical systems which is explicitly structured to extract information in both fine-to-coarse and coarse-to-fine directions. We envision this method being generally applicable…

Autonomous robots require online trajectory planning capability to operate in the real world. Efficient offline trajectory planning methods already exist, but are computationally demanding, preventing their use online. In this paper, we…

The current Air Traffic Management (ATM) system worldwide has reached its limits in terms of predictability, efficiency and cost effectiveness. Different initiatives worldwide propose trajectory-oriented transformations that require high…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…

Dyna-style model-based reinforcement learning contains two phases: model rollouts to generate sample for policy learning and real environment exploration using current policy for dynamics model learning. However, due to the complex…

This paper presents a learning-based approach to consider the effect of unobservable world states in kinodynamic motion planning in order to enable accurate high-speed off-road navigation on unstructured terrain. Existing kinodynamic motion…

When environmental interaction is expensive, model-based reinforcement learning offers a solution by planning ahead and avoiding costly mistakes. Model-based agents typically learn a single-step transition model. In this paper, we propose a…

We propose a novel planning technique for satisfying tasks specified in temporal logic in partially revealed environments. We define high-level actions derived from the environment and the given task itself, and estimate how each action…

The objective of this paper is to design novel multi-layer neural network architectures for multiscale simulations of flows taking into account the observed data and physical modeling concepts. Our approaches use deep learning concepts…

Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…

Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. Physics-based energy models work for uniform, flat surfaces…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…

We study learning control in an online reset-free lifelong learning scenario, where mistakes can compound catastrophically into the future and the underlying dynamics of the environment may change. Traditional model-free policy learning…

Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at generalizing across diverse real-world scenarios. For online…