相关论文: End-to-end Multi-Instance Robotic Reaching from Mo…

This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We…

Autonomous parking is a crucial task in the intelligent driving field. Traditional parking algorithms are usually implemented using rule-based schemes. However, these methods are less effective in complex parking scenarios due to the…

With the rapid advancements in autonomous driving and robot navigation, there is a growing demand for lifelong learning models capable of estimating metric (absolute) depth. Lifelong learning approaches potentially offer significant cost…

Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of…

We propose a self-supervised learning framework that uses unlabeled monocular video sequences to generate large-scale supervision for training a Visual Odometry (VO) frontend, a network which computes pointwise data associations across…

Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human intervention, where avoiding contact with the inner walls…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

Needle picking is a challenging manipulation task in robot-assisted surgery due to the characteristics of small slender shapes of needles, needles' variations in shapes and sizes, and demands for millimeter-level control. Prior works,…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

Self-supervised learning (SSL) holds promise in leveraging large amounts of unlabeled data. However, the success of popular SSL methods has limited on single-centric-object images like those in ImageNet and ignores the correlation among the…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…

We explore the possibility of using a single monocular camera to forecast the time to collision between a suitcase-shaped robot being pushed by its user and other nearby pedestrians. We develop a purely image-based deep learning approach…

Deep networks trained on demonstrations of human driving have learned to follow roads and avoid obstacles. However, driving policies trained via imitation learning cannot be controlled at test time. A vehicle trained end-to-end to imitate…

Learning to predict scene depth from RGB inputs is a challenging task both for indoor and outdoor robot navigation. In this work we address unsupervised learning of scene depth and robot ego-motion where supervision is provided by monocular…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…