相关论文: Differentiable-Optimization Based Neural Policy fo…

Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment:…

Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…

Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

To overcome the problem of occlusion in visual tracking, this paper proposes an occlusion-aware tracking algorithm. The proposed algorithm divides the object into discrete image patches according to the pixel distribution of the object by…

Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper proposes a learning-enabled framework for safety-critical…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Collaborative navigation becomes essential in situations of occluded scenarios in autonomous driving where independent driving policies are likely to lead to collisions. One promising approach to address this issue is through the use of…

The advancement of robots, particularly those functioning in complex human-centric environments, relies on control solutions that are driven by machine learning. Understanding how learning-based controllers make decisions is crucial since…

Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…

The significant components of any successful autonomous flight system are task completion and collision avoidance. Most deep learning algorithms successfully execute these aspects under the environment and conditions they are trained.…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Fault-tolerant deep learning accelerator is the basis for highly reliable deep learning processing and critical to deploy deep learning in safety-critical applications such as avionics and robotics. Since deep learning is known to be…

Obstacle avoidance is a fundamental vision-based task essential for enabling quadrotors to perform advanced applications. When planning the trajectory, existing approaches both on optimization and learning typically regard quadrotor as a…

Safety is a core challenge of autonomous robot motion planning, especially in the presence of dynamic and uncertain obstacles. Many recent results use learning and deep learning-based motion planners and prediction modules to predict…

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…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level policy, represented as a neural network, outputs a reward…