相关论文: FusionForce: End-to-end Differentiable Neural-Symb…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

Motion prediction is critical for autonomous off-road driving, however, it presents significantly more challenges than on-road driving because of the complex interaction between the vehicle and the terrain. Traditional physics-based…

While autonomous navigation of mobile robots on rigid terrain is a well-explored problem, navigating on deformable terrain such as tall grass or bushes remains a challenge. To address it, we introduce an explainable, physics-aware and…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

This study aims to improve the performance and generalization capability of end-to-end autonomous driving with scene understanding leveraging deep learning and multimodal sensor fusion techniques. The designed end-to-end deep neural network…

Humans have the ability to seamlessly combine low-level visual input with high-level symbolic reasoning often in the form of recognising objects, learning relations between them and applying rules. Neuro-symbolic systems aim to bring a…

We introduce neural networks for end-to-end differentiable proving of queries to knowledge bases by operating on dense vector representations of symbols. These neural networks are constructed recursively by taking inspiration from the…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

Real-time simulation of elastic structures is essential in many applications, from computer-guided surgical interventions to interactive design in mechanical engineering. The Finite Element Method is often used as the numerical method of…

We investigate a new paradigm that uses differentiable SLAM architectures in a self-supervised manner to train end-to-end deep learning models in various LiDAR based applications. To the best of our knowledge there does not exist any work…

Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

Deep learning models deployed in safety critical applications like autonomous driving use simulations to test their robustness against adversarial attacks in realistic conditions. However, these simulations are non-differentiable, forcing…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…