相关论文: REVISE: Robust Probabilistic Motion Planning in a …

We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation involves modelling the robot as a stochastic linear dynamical…

This paper presents a robust path following control method for vehicles that explicitly considers steering resistance dynamics to improve tracking accuracy. Conventional methods typically treat the steering angle as a direct control input;…

Balancing covariates is critical for credible and efficient randomized experiments. Rerandomization addresses this by repeatedly generating treatment assignments until covariate balance meets a prespecified threshold. By shrinking this…

To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…

We propose a novel Bayesian approach to the problem of variable selection in multiple linear regression models. In particular, we present a hierarchical setting which allows for direct specification of a-priori beliefs about the number of…

Ensuring safety in robotic systems remains a fundamental challenge, especially when deploying offline policy-learning methods such as imitation learning in dynamic environments. Traditional behavior cloning (BC) often fails to generalize…

We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Waypoint Free Autonomous Systems for Traversability), uses RGB…

Online planning in Markov Decision Processes (MDPs) enables agents to make sequential decisions by simulating future trajectories from the current state, making it well-suited for large-scale or dynamic environments. Sample-based methods…

This paper presents research findings on handling faulty measurements (i.e., outliers) of global navigation satellite systems (GNSS) for vehicle localization under adverse signal conditions in field applications, where raw GNSS data are…

Sampling-based planning is the predominant paradigm for motion planning in robotics. Most sampling-based planners use a global random sampling scheme to guarantee probabilistic completeness. However, most schemes are often inefficient as…

We examine the linear regression problem in a challenging high-dimensional setting with correlated predictors where the vector of coefficients can vary from sparse to dense. In this setting, we propose a combination of probabilistic…

We consider a chance-constrained multi-robot motion planning problem in the presence of Gaussian motion and sensor noise. Our proposed algorithm, CC-K-CBS, leverages the scalability of kinodynamic conflict-based search (K-CBS) in…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

The main challenge that sets transfer learning apart from traditional supervised learning is the distribution shift, reflected as the shift between the source and target models and that between the marginal covariate distributions. In this…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…

We introduce a novel Bayesian approach for variable selection using Gaussian process regression, which is crucial for enhancing interpretability and model regularization. Our method employs nearest neighbor Gaussian processes, serving as…

Bipedal robots have advantages in maneuvering human-centered environments, but face greater failure risk compared to other stable mobile platforms such as wheeled or quadrupedal robots. While learning-based traversability has been widely…

Machine learning methods provide a general framework for automatically finding and representing the essential characteristics of simulation data. This task is particularly crucial in enhanced sampling simulations. There we seek a few…

Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, including areas of the environment that are not immediately…