相关论文: Generalizing Robot Trajectories from Single-Contex…

This letter describes an incremental multimodal surface mapping methodology, which represents the environment as a continuous probabilistic model. This model enables high-resolution reconstruction while simultaneously compressing spatial…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

Established techniques for simulation and prediction with Gaussian process (GP) dynamics often implicitly make use of an independence assumption on successive function evaluations of the dynamics model. This can result in significant error…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

We study the gradient Expectation-Maximization (EM) algorithm for Gaussian Mixture Models (GMM) in the over-parameterized setting, where a general GMM with $n>1$ components learns from data that are generated by a single ground truth…

Using data sources beyond the Automatic Identification System to represent the context a vessel is navigating in and consequently improve situation awareness is still rare in machine learning approaches to vessel trajectory prediction…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…

This paper presents a learning from demonstration approach to programming safe, autonomous behaviors for uncommon driving scenarios. Simulation is used to re-create a targeted driving situation, one containing a road-side hazard creating a…

Movement generation, and especially generalisation to unseen situations, plays an important role in robotics. Different types of movement generation methods exist such as spline based methods, dynamical system based methods, and methods…

Few-shot cross-modal retrieval focuses on learning cross-modal representations with limited training samples, enabling the model to handle unseen classes during inference. Unlike traditional cross-modal retrieval tasks, which assume that…

A generalized Gaussian process model (GGPM) is a unifying framework that encompasses many existing Gaussian process (GP) models, such as GP regression, classification, and counting. In the GGPM framework, the observation likelihood of the…

Skid-Steer Wheeled Mobile Robots (SSWMRs) are increasingly being used for off-road autonomy applications. When turning at high speeds, these robots tend to undergo significant skidding and slipping. In this work, using Gaussian Process…

We introduce a new computational framework for estimating parameters in generalized generalized linear models (GGLM), a class of models that extends the popular generalized linear models (GLM) to account for dependencies among observations…

Large, general-purpose robotic policies trained on diverse demonstration datasets have been shown to be remarkably effective both for controlling a variety of robots in a range of different scenes, and for acquiring broad repertoires of…

Learning for Demonstration (LfD) enables robots to acquire new skills by imitating expert demonstrations, allowing users to communicate their instructions in an intuitive manner. Recent progress in LfD often relies on kinesthetic teaching…

We present a novel Simultaneous Localization and Mapping (SLAM) method that employs Gaussian Process (GP) based landmark (object) representations. Instead of conventional grid maps or point cloud registration, we model the environment on a…

In this paper, we study the problem of learning one-dimensional Gaussian mixture models (GMMs) with a specific focus on estimating both the model order and the mixing distribution from independent and identically distributed (i.i.d.)…

In this study, we focus on sampling from the latent space of generative models built upon autoencoders so as the reconstructed samples are lifelike images. To do to, we introduce a novel post-training sampling algorithm rooted in the…

Conditional density estimation is complicated by multimodality, heteroscedasticity, and strong non-Gaussianity. Gaussian processes (GPs) provide a principled nonparametric framework with calibrated uncertainty, but standard GP regression is…

Foundation models have driven remarkable progress in text, vision, and video understanding, and are now poised to unlock similar breakthroughs in trajectory modeling. We introduce the GPSMasked Trajectory Transformer (GPS-MTM), a foundation…