相关论文: ASPIRe: An Informative Trajectory Planner with Mut…

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…

In this paper, we present a new algorithm that extends RRT* and RT-RRT* for online path planning in complex, dynamic environments. Sampling-based approaches often perform poorly in environments with narrow passages, a feature common to many…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

Optimal path planning aims to determine a sequence of states from a start to a goal while accounting for planning objectives. Popular methods often integrate fixed batch sizes and neglect information on obstacles, which is not…

Aligning text-to-image generation with user intent remains challenging, as users frequently provide ambiguous inputs and struggle with model idiosyncrasies. We propose Adaptive Prompt Elicitation (APE), a technique that adaptively poses…

Large language models are increasingly evaluated as interactive agents, yet standard agent benchmarks conflate two qualitatively distinct sources of success: semantic tool-use and interface-specific interaction pattern memorization. Because…

This paper improves the performance of RRT$^*$-like sampling-based path planners by combining admissible informed sampling and local sampling (i.e., sampling the neighborhood of the current solution). An adaptive strategy regulates the…

Target-oriented discovery under limited evaluation budgets requires making reliable progress in high-dimensional, heterogeneous design spaces where each new measurement is costly, whether experimental or high-fidelity simulation. We present…

In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…

"Search for" or "Navigate to"? When finding an object, the two choices always come up in our subconscious mind. Before seeing the target, we search for the target based on experience. After seeing the target, we remember the target location…

Conventional tracking solutions are not feasible in handling abrupt motion as they are based on smooth motion assumption or an accurate motion model. Abrupt motion is not subject to motion continuity and smoothness. To assuage this, we deem…

Sampling-based planning algorithms like Rapidly-exploring Random Tree (RRT) are versatile in solving path planning problems. RRT* offers asymptotic optimality but requires growing the tree uniformly over the free space, which leaves room…

This paper introduces Adaptive Mixture Importance Sampling (AMIS) as a novel approach for optimizing key performance indicators (KPIs) in large-scale recommender systems, such as online ad auctions. Traditional importance sampling (IS)…

Parallel trajectory optimization via the Alternating Direction Method of Multipliers (ADMM) has emerged as a scalable approach to long-horizon motion planning. However, existing frameworks typically decompose the problem into parallel…

Navigation of UAVs in unknown environments with obstacles is essential for applications in disaster response and infrastructure monitoring. However, existing obstacle avoidance algorithms, such as Artificial Potential Field (APF) are unable…

Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…

Siamese approaches have achieved promising performance in visual object tracking recently. The key to the success of Siamese trackers is to learn appearance-invariant feature embedding functions via pair-wise offline training on large-scale…

Adaptive Informative Path Planning (AIPP) problems model an agent tasked with obtaining information subject to resource constraints in unknown, partially observable environments. Existing work on AIPP has focused on representing…

Partially Observable Markov Decision Processes (POMDPs) are notoriously hard to solve. Most advanced state-of-the-art online solvers leverage ideas of Monte Carlo Tree Search (MCTS). These solvers rapidly converge to the most promising…

Recently, many multi-modal trackers prioritize RGB as the dominant modality, treating other modalities as auxiliary, and fine-tuning separately various multi-modal tasks. This imbalance in modality dependence limits the ability of methods…