相关论文: Robust Path Planning via Learning from Demonstrati…

Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…

By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…

For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Catastrophic forgetting is one of the fundamental issues of continual learning because neural networks forget the tasks learned previously when trained on new tasks. The proposed framework is a new path-coordinated framework of continual…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

In this paper, a new demonstration-based path-planning framework for the visual inspection of large structures using UAVs is proposed. We introduce UPPLIED: UAV Path PLanning for InspEction through Demonstration, which utilizes a…

In this work, a novel learning-based approach has been developed to generate driving paths by integrating LIDAR point clouds, GPS-IMU information, and Google driving directions. The system is based on a fully convolutional neural network…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems. Existing perception-informed local planners that operate in…

The introduction of the generative adversarial imitation learning (GAIL) algorithm has spurred the development of scalable imitation learning approaches using deep neural networks. Many of the algorithms that followed used a similar…

Understanding an agent's goals from its behavior is fundamental to aligning AI systems with human intentions. Existing goal recognition methods typically rely on an optimal goal-oriented policy representation, which may differ from the…

Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…

Identifying affordance regions on 3D objects from semantic cues is essential for robotics and human-machine interaction. However, existing 3D affordance learning methods struggle with generalization and robustness due to limited annotated…

Path planning is an active area of research essential for many applications in robotics. Popular techniques include graph-based searches and sampling-based planners. These approaches are powerful but have limitations. This paper continues…

Robot-assisted endovascular intervention offers a safe and effective solution for remote catheter manipulation, reducing radiation exposure while enabling precise navigation. Reinforcement learning (RL) has recently emerged as a promising…

Reliable prediction of train delays is essential for enhancing the robustness and efficiency of railway transportation systems. In this work, we reframe delay forecasting as a stochastic simulation task, modeling state-transition dynamics…

We propose a deep reinforcement learning approach for solving a mapless navigation problem in warehouse scenarios. In our approach, an automation guided vehicle is equipped with LiDAR and frontal RGB sensors and learns to perform a targeted…

The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…