相关论文: Multi-Task Interactive Robot Fleet Learning with V…

With the rapid growth of computing powers and recent advances in deep learning, we have witnessed impressive demonstrations of novel robot capabilities in research settings. Nonetheless, these learning systems exhibit brittle generalization…

Robot learning methods have recently made great strides, but generalization and robustness challenges still hinder their widespread deployment. Failing to detect and address potential failures renders state-of-the-art learning systems not…

Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…

In a world of global trading, maritime safety, security and efficiency are crucial issues. We propose a multi-task deep learning framework for vessel monitoring using Automatic Identification System (AIS) data streams. We combine recurrent…

We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a…

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

Deep imitation learning enables robots to learn from expert demonstrations to perform tasks such as lane following or obstacle avoidance. However, in the traditional imitation learning framework, one model only learns one task, and thus it…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…

Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide…

Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy…

Most recent successes in robot reinforcement learning involve learning a specialized single-task agent. However, robots capable of performing multiple tasks can be much more valuable in real-world applications. Multi-task reinforcement…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Efficient and sustainable maritime transport increasingly depends on reliable forecasting and adaptive routing, yet operational adoption remains difficult due to forecast latencies and the need for human judgment in rapid decision-making…

While traditional machine learning can effectively tackle a wide range of problems, it primarily operates within a closed-world setting, which presents limitations when dealing with streaming data. As a solution, incremental learning…