相关论文: PACER: Preference-conditioned All-terrain Costmap …

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

Visual tokenizers play a central role in latent image generation by bridging high-dimensional images and tractable generative modeling. However, most existing tokenizers are still trained with reconstruction-dominated objectives, which…

Autonomous navigation of car-like robots on uneven terrain poses unique challenges compared to flat terrain, particularly in traversability assessment and terrain-associated kinematic modelling for motion planning. This paper introduces…

Reliable navigation in disaster-response and other unstructured indoor settings requires robots not only to avoid obstacles but also to recognise when those obstacles can be pushed aside. We present an adaptive, LiDAR and odometry-based…

Background: Most of the existing machine learning models for security tasks, such as spam detection, malware detection, or network intrusion detection, are built on supervised machine learning algorithms. In such a paradigm, models need a…

Specifying complex task behaviours while ensuring good robot performance may be difficult for untrained users. We study a framework for users to specify rules for acceptable behaviour in a shared environment such as industrial facilities.…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

When robots are deployed in the field for environmental monitoring they typically execute pre-programmed motions, such as lawnmower paths, instead of adaptive methods, such as informative path planning. One reason for this is that adaptive…

This paper addresses the problem of preference learning, which aims to align robot behaviors through learning user specific preferences (e.g. "good pull-over location") from visual demonstrations. Despite its similarity to learning factual…

Conventional active learning algorithms assume a single labeler that produces noiseless label at a given, fixed cost, and aim to achieve the best generalization performance for given classifier under a budget constraint. However, in many…

This paper introduces a set of customizable and novel cost functions that enable the user to easily specify desirable robot formations, such as a ``high-coverage'' infrastructure-inspection formation, while maintaining high relative pose…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Bird's Eye View (BEV) semantic maps have recently garnered a lot of attention as a useful representation of the environment to tackle assisted and autonomous driving tasks. However, most of the existing work focuses on the fully supervised…

We propose a reinforcement learning based approach to tackle the cost-sensitive learning problem where each input feature has a specific cost. The acquisition process is handled through a stochastic policy which allows features to be…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

State-of-the-art quantum algorithms routinely tune dynamically parametrized cost functionals for combinatorics, machine learning, equation-solving, or energy minimization. However, large search complexity often demands many (noisy) quantum…

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be…

Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating global costmaps for long-range planning directly from…

Class incremental semantic segmentation aims to preserve old knowledge while learning new tasks, however, it is impeded by catastrophic forgetting and background shift issues. Prior works indicate the pivotal importance of initializing new…

Existing LiDAR-based 3D object detection methods for autonomous driving scenarios mainly adopt the training-from-scratch paradigm. Unfortunately, this paradigm heavily relies on large-scale labeled data, whose collection can be expensive…