相关论文: Active Learning-augmented Intention-aware Obstacle…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

The space environment around the Earth is becoming increasingly populated by both active spacecraft and space debris. To avoid potential collision events, significant improvements in Space Situational Awareness (SSA) activities and…

Advanced Driver Assistance Systems (ADAS) and Advanced Driving Systems (ADS) are key to improving road safety, yet most existing implementations focus primarily on the vehicle ahead, neglecting the behavior of following vehicles. This…

Autonomous navigation of Unmanned Surface Vehicles (USVs) that is safe and compliant with the International Regulations for Preventing Collisions at Sea (COLREGs) remains a formidable challenge in dynamic maritime environments, particularly…

We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…

Predicting agents' future trajectories plays a crucial role in modern AI systems, yet it is challenging due to intricate interactions exhibited in multi-agent systems, especially when it comes to collision avoidance. To address this…

Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this paper, we first integrate buoyancy and hydrodynamics models…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…

This paper presents an approach to exploring a multi-objective reinforcement learning problem with Model-Agnostic Meta-Learning. The environment we used consists of a 2D vehicle equipped with a LIDAR sensor. The goal of the environment is…

We discuss the problem in which an autonomous vehicle must classify an object based on multiple views. We focus on the active classification setting, where the vehicle controls which views to select to best perform the classification. The…

Developed to alleviate prohibitive labeling costs, active learning (AL) methods aim to reduce label complexity in supervised learning. While recent work has demonstrated the benefit of using AL in combination with large pre-trained language…

Safe navigation is essential for autonomous systems operating in hazardous environments. Traditional planning methods excel at long-horizon tasks but rely on a predefined graph with fixed distance metrics. In contrast, safe Reinforcement…

Object-goal visual navigation aims to reach a specific target object using egocentric visual observations. Recent deep reinforcement learning (DRL) approaches have achieved promising success rates but often neglect collisions during…

To improve driving safety and avoid car accidents, Advanced Driver Assistance Systems (ADAS) are given significant attention. Recent studies have focused on predicting driver intention as a key part of these systems. In this study, we…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

The rapid development of autonomous vehicles (AVs) holds vast potential for transportation systems through improved safety, efficiency, and access to mobility. However, the progression of these impacts, as AVs are adopted, is not well…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Robots that navigate among pedestrians use collision avoidance algorithms to enable safe and efficient operation. Recent works present deep reinforcement learning as a framework to model the complex interactions and cooperation. However,…

Automated maritime collision avoidance will rely on human supervision for the foreseeable future. This necessitates transparency into how the system perceives a scenario and plans a maneuver. However, the causal logic behind avoidance…