相关论文: Back to Newton's Laws: Learning Vision-based Agile…
Inverted landing in a rapid and robust manner is a challenging feat for aerial robots, especially while depending entirely on onboard sensing and computation. In spite of this, this feat is routinely performed by biological fliers such as…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
We introduce Air Learning, an open-source simulator, and a gym environment for deep reinforcement learning research on resource-constrained aerial robots. Equipped with domain randomization, Air Learning exposes a UAV agent to a diverse set…
The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…
Unmanned Aerial Vehicles (UAVs) are increasingly populating urban areas for delivery and surveillance purposes. In this work, we develop an optimal navigation strategy based on Deep Reinforcement Learning. The environment is represented by…
In this work we use deep reinforcement learning to create an autonomous agent that can navigate in a two-dimensional space using only raw auditory sensory information from the environment, a problem that has received very little attention…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…
Learning provides a powerful tool for vision-based navigation, but the capabilities of learning-based policies are constrained by limited training data. If we could combine data from all available sources, including multiple kinds of…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on…
We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets. Our approach uses deep reinforcement learning-based expert…
This work explores the potential of using differentiable simulation for learning quadruped locomotion. Differentiable simulation promises fast convergence and stable training by computing low-variance first-order gradients using robot…
We embark on a hitherto unreported problem of an autonomous robot (self-driving car) navigating in dynamic scenes in a manner that reduces its localization error and eventual cumulative drift or Absolute Trajectory Error, which is…
Deep Reinforcement Learning (DRL) has been successfully used to solve different challenges, e.g. complex board and computer games, recently. However, solving real-world robotics tasks with DRL seems to be a more difficult challenge. The…
In warehouses, specialized agents need to navigate, avoid obstacles and maximize the use of space in the warehouse environment. Due to the unpredictability of these environments, reinforcement learning approaches can be applied to complete…
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…
Navigating fluently around pedestrians is a necessary capability for mobile robots deployed in human environments, such as buildings and homes. While research on social navigation has focused mainly on the scalability with the number of…