相关论文: Meta-Learning Online Dynamics Model Adaptation in …

In modern industrial systems, machinery frequently operates under dynamic environments with continuously varying loads and speeds. Consequently, deep learning-based fault diagnosis models often suffer from severe performance degradation…

Autonomous mobility-on-demand systems are a viable alternative to mitigate many transportation-related externalities in cities, such as rising vehicle volumes in urban areas and transportation-related pollution. However, the success of…

Applying reinforcement learning to robotic systems poses a number of challenging problems. A key requirement is the ability to handle continuous state and action spaces while remaining within a limited time and resource budget.…

Ground robots require the crucial capability of traversing unstructured and unprepared terrains and avoiding obstacles to complete tasks in real-world robotics applications such as disaster response. When a robot operates in off-road field…

Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…

Advancing Machine Learning (ML)-based perception models for autonomous systems necessitates addressing weak spots within the models, particularly in challenging Operational Design Domains (ODDs). These are environmental operating conditions…

The ability to reliably maximize tire force usage would improve the safety of autonomous vehicles, especially in challenging edge cases. However, vehicle control near the limits of handling has many challenges, including robustly contending…

The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…

Technological developments call for increasing perception and action capabilities of robots. Among other skills, vision systems that can adapt to any possible change in the working conditions are needed. Since these conditions are…

Autonomous driving has received a great deal of attention in the automotive industry and is often seen as the future of transportation. The development of autonomous driving technology has been greatly accelerated by the growth of…

While deep neural networks are being utilized heavily for autonomous driving, they need to be adapted to new unseen environmental conditions for which they were not trained. We focus on a safety critical application of lane detection, and…

The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…

Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…

Adaptive control achieves concurrent parameter learning and stable control under uncertainties that are linearly parameterized with known nonlinear features. Nonetheless, it is often difficult to obtain such nonlinear features. To address…

This paper addresses the problem of fast learning of radar detectors with a limited amount of training data. In current data-driven approaches for radar detection, re-training is generally required when the operating environment changes,…

It has long been hoped that model-based control will improve tracking performance while maintaining or increasing compliance. This hope hinges on having or being able to estimate an accurate inverse dynamics model. As a result, substantial…

One of the key challenges in applying reinforcement learning to complex robotic control tasks is the need to gather large amounts of experience in order to find an effective policy for the task at hand. Model-based reinforcement learning…

Safe deployment of autonomous robots in diverse scenarios requires agents that are capable of efficiently adapting to new environments while satisfying constraints. In this work, we propose a practical and theoretically-justified approach…

This paper presents a novel data-driven approach to vehicle motion planning and control in off-road driving scenarios. For autonomous off-road driving, environmental conditions impact terrain traversability as a function of weather, surface…

Domain adaptation (DA) is the topical problem of adapting models from labelled source datasets so that they perform well on target datasets where only unlabelled or partially labelled data is available. Many methods have been proposed to…