相关论文: RaCIL: Ray Tracing based Multi-UAV Obstacle Avoida…

Research in Anti-UAV (Unmanned Aerial Vehicle) tracking has explored various modalities, including RGB, TIR, and RGB-T fusion. However, a unified framework for cross-modal collaboration is still lacking. Existing approaches have primarily…

Multi-modal learning has emerged as a key technique for improving performance across domains such as autonomous driving, robotics, and reasoning. However, in certain scenarios, particularly in resource-constrained environments, some…

Adversarial Imitation Learning (AIL) methods, while effective in settings with limited expert demonstrations, are often considered unstable. These approaches typically decompose into two components: Density Ratio (DR) estimation…

With the growing connectivity demands, Unmanned Aerial Vehicles (UAVs) have emerged as a prominent component in the deployment of Next Generation On-demand Wireless Networks. However, current UAV positioning solutions typically neglect the…

Combining deep neural networks with reinforcement learning has shown great potential in the next-generation intelligent control. However, there are challenges in terms of safety and cost in practical applications. In this paper, we propose…

Ray tracing has become a standard for accurate radio propagation modeling, but suffers from exponential computational complexity, as the number of candidate paths scales with the number of objects raised to the interaction order. This…

Maintaining high efficiency and high precision are two fundamental challenges in UAV tracking due to the constraints of computing resources, battery capacity, and UAV maximum load. Discriminative correlation filters (DCF)-based trackers can…

Multimodal tabular-image fusion is an emerging task that has received increasing attention in various domains. However, existing methods may be hindered by gradient conflicts between modalities, misleading the optimization of the unimodal…

My project tackles the question of whether Ray can be used to quickly train autonomous vehicles using a simulator (Carla), and whether a platform robust enough for further research purposes can be built around it. Ray is an open-source…

The aim in imitation learning is to learn effective policies by utilizing near-optimal expert demonstrations. However, high-quality demonstrations from human experts can be expensive to obtain in large numbers. On the other hand, it is…

While reinforcement learning (RL) has shown promising performance, its sample complexity continues to be a substantial hurdle, restricting its broader application across a variety of domains. Imitation learning (IL) utilizes oracles to…

The challenges to solving the collision avoidance problem lie in adaptively choosing optimal robot velocities in complex scenarios full of interactive obstacles. In this paper, we propose a distributed approach for multi-robot navigation…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Recent work has explored the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the…

Unmanned Aerial Vehicles (UAVs) increasingly enhance the Quality of Service (QoS) in wireless networks due to their flexibility and cost-effectiveness. However, optimizing UAV placement in dynamic, obstacle-prone environments remains a…

This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…

Modern approaches to autonomous driving rely heavily on learned components trained with large amounts of human driving data via imitation learning. However, these methods require large amounts of expensive data collection and even then face…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Imitation learning (IL) has proven to be an effective method for learning good policies from expert demonstrations. Adversarial imitation learning (AIL), a subset of IL methods, is particularly promising, but its theoretical foundation in…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…