相关论文: Two-Layer Attention Optimization for Bimanual Coor…

Electric endurance racing is characterized by severe energy constraints and strong aerodynamic interactions. Determining race-winning policies therefore becomes a fundamentally multi-agent, game-theoretic problem. These policies must…

Robotic agents performing domestic chores by natural language directives are required to master the complex job of navigating environment and interacting with objects in the environments. The tasks given to the agents are often composite…

We consider a multi-agent optimization problem where agents subject to local, intermittent interactions aim to minimize a sum of local objective functions subject to a global inequality constraint and a global state constraint set. In…

This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…

This paper presents a shared-control rehabilitation policy for a custom 6-degree-of-freedom (6-DoF) upper-limb robot that decomposes complex reaching tasks into decoupled spatial axes. The patient governs the primary reaching direction…

Mobile autonomous system (MAS) becomes pervasive especially in the vehicular and robotic networks. Multiple heterogeneous MAS networks can be integrated together as a multi-layer MAS network to offer holistic services. The network…

To safely and efficiently extract an object from the clutter, this paper presents a bimanual manipulation planner in which one hand of the robot is used to slide the target object out of the clutter while the other hand is used to support…

This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…

The training and generalization dynamics of the Transformer's core mechanism, namely the Attention mechanism, remain under-explored. Besides, existing analyses primarily focus on single-head attention. Inspired by the demonstrated benefits…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

This study proposes a mathematical model to optimally locate a set of detectors in such a way that the expected number of casualties in a given threat area can be minimized. Detectors may not be perfectly reliable, which is often a function…

Convolutional networks and vision transformers have different forms of pairwise interactions, pooling across layers and pooling at the end of the network. Does the latter really need to be different? As a by-product of pooling, vision…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Algorithms are used to aid human decision makers by making predictions and recommending decisions. Currently, these algorithms are trained to optimize prediction accuracy. What if they were optimized to control final decisions? In this…

Transformer architectures are now central to sequence modeling tasks. At its heart is the attention mechanism, which enables effective modeling of long-term dependencies in a sequence. Recently, transformers have been successfully applied…

We study mechanisms of synchronisation, coordination, and equilibrium selection in two-player coordination games on multilayer networks. We apply the approach from evolutionary game theory with three possible update rules: the replicator…

The partial observability and stochasticity in multi-agent settings can be mitigated by accessing more information about others via communication. However, the coordination problem still exists since agents cannot communicate actual actions…

Learning communication strategies in cooperative multi-agent reinforcement learning (MARL) has recently attracted intensive attention. Early studies typically assumed a fully-connected communication topology among agents, which induces high…

Adjustable autonomy refers to entities dynamically varying their own autonomy, transferring decision-making control to other entities (typically agents transferring control to human users) in key situations. Determining whether and when…