相关论文: Offline Deep Model Predictive Control (MPC) for Vi…

This paper introduces a machine learning based system for controlling a robotic manipulator with visual perception only. The capability to autonomously learn robot controllers solely from raw-pixel images and without any prior knowledge of…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

We present VUNet, a novel view(VU) synthesis method for mobile robots in dynamic environments, and its application to the estimation of future traversability. Our method predicts future images for given virtual robot velocity commands using…

In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to…

This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…

We present a fast and accurate visual tracking algorithm based on the multi-domain convolutional neural network (MDNet). The proposed approach accelerates feature extraction procedure and learns more discriminative models for instance…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

This paper presents a Pre-Training Deep Reinforcement Learning(DRL) for avoidance navigation without map for mobile robots which map raw sensor data to control variable and navigate in an unknown environment. The efficient offline training…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

This work presents an online learning-based control method for improved trajectory tracking of unmanned aerial vehicles using both deep learning and expert knowledge. The proposed method does not require the exact model of the system to be…

This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…

We study the problem of online learning in predictive control of an unknown linear dynamical system with time varying cost functions which are unknown apriori. Specifically, we study the online learning problem where the control algorithm…

Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks to learn general near-optimal heuristics for path planning in…

This paper investigates the vision-based autonomous driving with deep learning and reinforcement learning methods. Different from the end-to-end learning method, our method breaks the vision-based lateral control system down into a…

Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…

The unaffordable computation load of nonlinear model predictive control (NMPC) has prevented it for being used in robots with high sampling rates for decades. This paper is concerned with the policy learning problem for nonlinear MPC with…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…