相关论文: Context-Based Echo State Networks with Prediction …

Reinforcement learning (RL) policies trained in simulation often suffer from severe performance degradation when deployed in real-world environments due to non-stationary dynamics. While Domain Randomization (DR) and meta-RL have been…

Despite the superiority of convolutional neural networks demonstrated in time series modeling and forecasting, it has not been fully explored on the design of the neural network architecture and the tuning of the hyper-parameters. Inspired…

Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as autonomous vehicles and wheeled mobile robotics navigating in complex scenarios to…

This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure. The sampling-based model predictive control relies…

Human-motion generation is a long-standing challenging task due to the requirement of accurately modeling complex and diverse dynamic patterns. Most existing methods adopt sequence models such as RNN to directly model transitions in the…

Echo state networks (ESNs) are a powerful form of reservoir computing that only require training of linear output weights whilst the internal reservoir is formed of fixed randomly connected neurons. With a correctly scaled connectivity…

Reservoir Computing has found many potential applications in the field of complex dynamics. In this article, we exploit the exceptional capability of the echo-state network (ESN) model to make it learn a unidirectional coupling scheme from…

We propose a novel algorithm for performing federated learning with Echo State Networks (ESNs) in a client-server scenario. In particular, our proposal focuses on the adaptation of reservoirs by combining Intrinsic Plasticity with Federated…

Temporal data modelling techniques with neural networks are useful in many domain applications, including time-series forecasting and control engineering. This paper aims at developing a recurrent version of stochastic configuration…

As one of the most important paradigms of recurrent neural networks, the echo state network (ESN) has been applied to a wide range of fields, from robotics to medicine, finance, and language processing. A key feature of the ESN paradigm is…

Machine learning (ML) is widely used to model chaotic systems. Among ML approaches, echo state networks (ESNs) have received considerable attention due to their simple construction and fast training. However, ESN performance is highly…

Predicting trajectories of pedestrians is quintessential for autonomous robots which share the same environment with humans. In order to effectively and safely interact with humans, trajectory prediction needs to be both precise and…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Recently, a large number of neural mechanisms and models have been proposed for sequence learning, of which self-attention, as exemplified by the Transformer model, and graph neural networks (GNNs) have attracted much attention. In this…

Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories are similar to how a human moves will increase the…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

It is a widely accepted fact that data representations intervene noticeably in machine learning tools. The more they are well defined the better the performance results are. Feature extraction-based methods such as autoencoders are…

Macroeconomic forecasting has recently started embracing techniques that can deal with large-scale datasets and series with unequal release periods. MIxed-DAta Sampling (MIDAS) and Dynamic Factor Models (DFM) are the two main…

Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…

The robotic systems continuously interact with complex dynamical systems in the physical world. Reliable predictions of spatiotemporal evolution of these dynamical systems, with limited knowledge of system dynamics, are crucial for…