相关论文: FootstepNet: an Efficient Actor-Critic Method for …

In scheduling problems common in the industry and various real-world scenarios, responding in real-time to disruptive events is essential. Recent methods propose the use of deep reinforcement learning (DRL) to learn policies capable of…

Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing…

Human motion prediction is an important component to facilitate human robot interaction. Robots need to accurately predict human's future movement in order to safely plan its own motion trajectories and efficiently collaborate with humans.…

As deep neural networks (DNNs) are increasingly deployed on edge devices, optimizing models for constrained computational resources is critical. Existing auto-pruning methods face challenges due to the diversity of DNN models, various…

Trajectory adjustment decisions throughout the drilling process, called geosteering, affect subsequent choices and information gathering, thus resulting in a coupled sequential decision problem. Previous works on applying decision…

Let us rethink the real-world scenarios that require human motion prediction techniques, such as human-robot collaboration. Current works simplify the task of predicting human motions into a one-off process of forecasting a short future…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…

This study presents a benchmark for evaluating action-constrained reinforcement learning (RL) algorithms. In action-constrained RL, each action taken by the learning system must comply with certain constraints. These constraints are crucial…

Deep reinforcement learning (DRL) has achieved groundbreaking successes in a wide variety of robotic applications. A natural consequence is the adoption of this paradigm for safety-critical tasks, where human safety and expensive hardware…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

Robot swarms navigating through unknown obstacle environments are an emerging research area that faces challenges. Performing tasks in such environments requires swarms to achieve autonomous localization, perception, decision-making,…

Decision-making, motion planning, and trajectory prediction are crucial in autonomous driving systems. By accurately forecasting the movements of other road users, the decision-making capabilities of the autonomous system can be enhanced,…

Hierarchical Reinforcement Learning (HRL) agents often struggle with long-horizon visual planning due to their reliance on error-prone distance metrics. We propose Discrete Hierarchical Planning (DHP), a method that replaces continuous…

Planning safe trajectories under uncertain and dynamic conditions makes the autonomous driving problem significantly complex. Current sampling-based methods such as Rapidly Exploring Random Trees (RRTs) are not ideal for this problem…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…

In this paper, we propose an efficient contact planner for quadrupedal robots to navigate in extremely constrained environments such as stepping stones. The main difficulty in this setting stems from the mixed nature of the problem, namely…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…