相关论文: Grasper: A Generalist Pursuer for Pursuit-Evasion …

Equilibrium learning in adversarial games is an important topic widely examined in the fields of game theory and reinforcement learning (RL). Pursuit-evasion game (PEG), as an important class of real-world games from the fields of robotics…

Computing worst-case robust strategies in pursuit-evasion games (PEGs) is time-consuming, especially when real-world factors like partial observability are considered. While important for general security purposes, real-time applicable…

With the increasing use of robots in daily life, there is a growing need to provide robust collaboration protocols for robots to tackle more complicated and dynamic problems effectively. This paper presents a novel, factor graph-based…

Effectively positioning pursuers in pursuit-evasion games without prior knowledge of evader locations remains a significant challenge. A novel approach that combines game-theoretic control theory with Graph Neural Networks is introduced in…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

World models simulate environment dynamics from raw sensory inputs like video. However, using them for planning can be challenging due to the vast and unstructured search space. We propose a robust and highly parallelizable planner that…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…

This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…

The interdiction of escaping adversaries in urban networks is a critical security challenge. State-of-the-art game-theoretic models, such as the Escape Interdiction Game (EIG), provide comprehensive frameworks but assume a highly dynamic…

Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…

While deep learning has enabled significant progress in designing general purpose robot grasping systems, there remain objects which still pose challenges for these systems. Recent work on Exploratory Grasping has formalized the problem of…

The optimal control of a "blind" pursuer searching for an evader moving on a road network and heading at a known speed toward a set of goal vertices is considered. To aid the "blind" pursuer, certain roads in the network have been…

After the great achievement of solving two-player zero-sum games, more and more AI researchers focus on solving multiplayer games. To facilitate the development of designing efficient learning algorithms for solving multiplayer games, we…

Large-scale non-convex sparsity-constrained problems have recently gained extensive attention. Most existing deterministic optimization methods (e.g., GraSP) are not suitable for large-scale and high-dimensional problems, and thus…

Optimization is crucial for MEC networks to function efficiently and reliably, most of which are NP-hard and lack efficient approximation algorithms. This leads to a paucity of optimal solution, constraining the effectiveness of…

Grasp detection in cluttered scenes is a very challenging task for robots. Generating synthetic grasping data is a popular way to train and test grasp methods, as is Dex-net and GraspNet; yet, these methods generate training grasps on 3D…

We propose a decentralized solution for a pursuit-evasion game involving a heterogeneous group of rational (selfish) pursuers and a single evader based on the framework of potential games. In the proposed game, the evader aims to delay (or,…

Iterative solvers are widely used to accurately simulate physical systems. These solvers require initial guesses to generate a sequence of improving approximate solutions. In this contribution, we introduce a novel method to accelerate…

Sparse graph recovery methods work well where the data follows their assumptions but often they are not designed for doing downstream probabilistic queries. This limits their adoption to only identifying connections among the input…