相关论文: Learning-based Attitude Estimation with Noisy Meas…

Training Large Language Models (LLMs) for reasoning tasks is increasingly driven by Reinforcement Learning with Verifiable Rewards (RLVR), where Proximal Policy Optimization (PPO) provides a principled framework for stable policy updates.…

This paper investigates the reinforcement learning (RL) based disturbance rejection control for uncertain nonlinear systems having non-simple nominal models. An extended state observer (ESO) is first designed to estimate the system state…

This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…

Recency bias is a useful inductive prior for sequential modeling: it emphasizes nearby observations and can still allow longer-range dependencies. Standard Transformer attention lacks this property, relying on all-to-all interactions that…

Robotic manipulation in unstructured environments requires the generation of robust and long-horizon trajectory-level policy with conditions of perceptual observations and benefits from the advantages of SE(3)-equivariant diffusion models…

In recent times, Reinforcement learning (RL) has been widely applied to many challenging tasks. However, in order to perform well, it requires access to a good reward function which is often sparse or manually engineered with scope for…

We use Reinforcement Meta-Learning to optimize an adaptive integrated guidance, navigation, and control system suitable for exoatmospheric interception of a maneuvering target. The system maps observations consisting of strapdown seeker…

When deploying machine learning estimators in science and engineering (SAE) domains, it is critical to avoid failed estimations that can have disastrous consequences, e.g., in aero engine design. This work focuses on detecting and…

Risk-averse Constrained Reinforcement Learning (RaCRL) aims to learn policies that minimise the likelihood of rare and catastrophic constraint violations caused by an environment's inherent randomness. In general, risk-aversion leads to…

Powered by deep representation learning, reinforcement learning (RL) provides an end-to-end learning framework capable of solving self-driving (SD) tasks without manual designs. However, time-varying nonstationary environments cause…

Intuitive human-machine interfaces may be developed using pattern classification to estimate executed human motions from electromyogram (EMG) signals generated during muscle contraction. The continual use of EMG-based interfaces gradually…

In this note an intrinsic version of the Cram\'er-Rao bound on estimation accuracy is established on the Special Orthogonal group $SO(3)$. It is intrinsic in the sense that it does not rely on a specific choice of coordinates on $SO(3)$:…

This paper introduces two novel nonlinear stochastic attitude estimators developed on the Special Orthogonal Group \mathbb{SO}\left(3\right) with the tracking error of the normalized Euclidean distance meeting predefined transient and…

Algorithmic recourse recommends a cost-efficient action to a subject to reverse an unfavorable machine learning classification decision. Most existing methods in the literature generate recourse under the assumption of complete knowledge…

We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…

Reinforcement Learning (RL) has the promise of providing data-driven support for decision-making in a wide range of problems in healthcare, education, business, and other domains. Classical RL methods focus on the mean of the total return…

Recent advancements in computer vision have accelerated the development of autonomous driving. Despite these advancements, training machines to drive in a way that aligns with human expectations remains a significant challenge. Human…

We demonstrate a new deep learning autoencoder network, trained by a nonnegativity constraint algorithm (NCAE), that learns features which show part-based representation of data. The learning algorithm is based on constraining negative…

High fidelity behavior prediction of intelligent agents is critical in many applications. However, the prediction model trained on the training set may not generalize to the testing set due to domain shift and time variance. The challenge…

In this work, we propose a novel generative method to identify the causal impact and apply it to prediction tasks. We conduct causal impact analysis using interventional and counterfactual perspectives. First, applying interventions, we…