相关论文: Conditional Variational Auto Encoder Based Dynamic…

Motion prediction is a key factor towards the full deployment of autonomous vehicles. It is fundamental in order to assure safety while navigating through highly interactive complex scenarios. In this work, the framework IAMP (Interaction-…

Well-calibrated traffic flow models are fundamental to understanding traffic phenomena and designing control strategies. Traditional calibration has been developed base on optimization methods. In this paper, we propose a novel…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Multimodal Large Language Models (MLLMs) achieve strong performance through instruction tuning, yet real-world deployment often requires continual capability expansion across sequential tasks. In such scenarios, Multimodal Continual…

We study stochastic motion planning problems which involve a controlled process, with possibly discontinuous sample paths, visiting certain subsets of the state-space while avoiding others in a sequential fashion. For this purpose, we first…

Generative models have been successfully applied to image style transfer and domain translation. However, there is still a wide gap in the quality of results when learning such tasks on musical audio. Furthermore, most translation models…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Generating collision-free motion in dynamic, partially observable environments is a fundamental challenge for robotic manipulators. Classical motion planners can compute globally optimal trajectories but require full environment knowledge…

Nowadays, industries are showing a growing interest in human-robot collaboration, particularly for shared tasks. This requires intelligent strategies to plan a robot's motions, considering both task constraints and human-specific factors…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments…

Robots operating in human-centric environments must be both robust to disturbances and provably safe from collisions. Achieving these properties simultaneously and efficiently remains a central challenge. While Dynamic Movement Primitives…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

This paper proposes a machine learning (ML) based method for channel prediction in high mobility orthogonal time frequency space (OTFS) channels. In these scenarios, rapid variations caused by Doppler spread and time varying multipath…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

Manipulation skills involving contact and friction are inherent to many robotics tasks. Using the class of motor primitives for peg-in-hole like insertions, we study how robots can learn such skills. Dynamic Movement Primitives (DMP) are a…

Autoencoders are effective deep learning models that can function as generative models and learn latent representations for downstream tasks. The use of graph autoencoders - with both encoder and decoder implemented as message passing…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…

Diffusion Probabilistic Models (DPMs) have shown a powerful capacity of generating high-quality image samples. Recently, diffusion autoencoders (Diff-AE) have been proposed to explore DPMs for representation learning via autoencoding. Their…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…