相关论文: Actively Coupled Sensor Configuration and Planning…

One of the main challenges in the field of embodied artificial intelligence is the open-ended autonomous learning of complex behaviours. Our approach is to use task-independent, information-driven intrinsic motivation(s) to support…

Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…

With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

We present an approach for autonomous sensor control for information gathering under partially observable, dynamic and sparsely sampled environments that maximizes information about entities present in that space. We describe our approach…

This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…

In this paper, we investigate cost-aware joint learning and optimization for multi-channel opportunistic spectrum access in a cognitive radio system. We investigate a discrete time model where the time axis is partitioned into frames. Each…

We consider the problem of autonomous navigation using limited information from a remote sensor network. Because the remote sensors are power and bandwidth limited, we use event-triggered (ET) estimation to manage communication costs. We…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Learning to control an environment without hand-crafted rewards or expert data remains challenging and is at the frontier of reinforcement learning research. We present an unsupervised learning algorithm to train agents to achieve…

Machine learning has emerged as a promising paradigm for enabling connected, automated vehicles to autonomously cruise the streets and react to unexpected situations. A key challenge, however, is to collect and select real-time and reliable…

Understanding the emergence of cooperation in systems of computational agents is crucial for the development of effective cooperative AI. Interaction among individuals in real-world settings are often sparse and occur within a broad…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…

Uncertainty-aware prediction is essential for safe motion planning, especially when using learned models to forecast the behavior of surrounding agents. Conformal prediction is a statistical tool often used to produce uncertainty-aware…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

The reliability of current autonomous driving systems is often jeopardized in situations when the vehicle's field-of-view is limited by nearby occluding objects. To mitigate this problem, vehicle-to-vehicle communication to share sensor…