相关论文: NARUTO: Neural Active Reconstruction from Uncertai…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

Autonomous Mobility-on-Demand (AMoD) services offer an opportunity for improving passenger service while reducing pollution and energy consumption through effective vehicle coordination. A primary challenge in the autonomous fleets…

Descent methods for deep networks are notoriously capricious: they require careful tuning of step size, momentum and weight decay, and which method will work best on a new benchmark is a priori unclear. To address this problem, this paper…

We introduce a novel, data-driven approach for reconstructing temporally coherent 3D motion from unstructured and potentially partial observations of non-rigidly deforming shapes. Our goal is to achieve high-fidelity motion reconstructions…

We investigate active learning in the context of deep neural network models for change detection and map updating. Active learning is a natural choice for a number of remote sensing tasks, including the detection of local surface changes:…

Deformable object manipulation requires computationally efficient representations that are compatible with robotic sensing modalities. In this paper, we present VIRDO:an implicit, multi-modal, and continuous representation for…

In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Based Trajectory Optimization (SBTO) framework that refines…

Recent researches show that machine learning has the potential to learn better heuristics than the one designed by human for solving combinatorial optimization problems. The deep neural network is used to characterize the input instance for…

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…

This work proposes a framework for multistage adjustable robust optimization that unifies the treatment of three different types of endogenous uncertainty, where decisions, respectively, (i) alter the uncertainty set, (ii) affect the…

View selection is critical in active 3D neural reconstruction as it impacts the contents of training set and resulting final output quality. Recent view selection strategies emphasize the visibility when evaluating model uncertainty in…

Uncertainty Sampling is an Active Learning strategy that aims to improve the data efficiency of machine learning models by iteratively acquiring labels of data points with the highest uncertainty. While it has proven effective for…

We introduce an unsupervised formulation to estimate heteroscedastic uncertainty in retrieval systems. We propose an extension to triplet loss that models data uncertainty for each input. Besides improving performance, our formulation…

The fusion of multiple sensor modalities, especially through deep learning architectures, has been an active area of study. However, an under-explored aspect of such work is whether the methods can be robust to degradations across their…

Machine learning can significantly improve performance for decision-making under uncertainty across a wide range of domains. However, ensuring robustness guarantees requires well-calibrated uncertainty estimates, which can be difficult to…

This paper introduces RaCo, a lightweight neural network designed to learn robust and versatile keypoints suitable for a variety of 3D computer vision tasks. The model integrates three key components: the repeatable keypoint detector, a…

Surrogate neural network-based models have been lately trained and used in a variety of science and engineering applications where the number of evaluations of a target function is limited by execution time. In cell phone camera systems,…

A key strategy for balancing performance and cost in modern machine learning systems is to dynamically route queries to either a low-cost model or a more expensive oracle (such as a large pretrained model or human expert), an approach known…

This paper introduces a novel neural network-based reinforcement learning approach for robot gaze control. Our approach enables a robot to learn and to adapt its gaze control strategy for human-robot interaction neither with the use of…

Robust reinforcement learning (RL) aims to learn policies that remain effective despite uncertainties in its environment, which frequently arise in real-world applications due to variations in environment dynamics. The robust RL methods…