相关论文: Safe Uncertainty-Aware Learning of Robotic Suturin…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…

In laparoscopy surgical training and evaluation, real-time detection of surgical actions with interpretable outputs is crucial for automated and real-time instructional feedback and skill development. Such capability would enable…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

We introduce a simple but effective method for managing risk in model-based reinforcement learning with trajectory sampling that involves probabilistic safety constraints and balancing of optimism in the face of epistemic uncertainty and…

Reinforcement learning has been established over the past decade as an effective tool to find optimal control policies for dynamical systems, with recent focus on approaches that guarantee safety during the learning and/or execution phases.…

Autonomous surgical robots are a promising solution to the increasing demand for surgery amid a shortage of surgeons. Recent work has proposed learning-based approaches for the autonomous manipulation of soft tissue. However, due to…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

In large-scale networks of uncertain dynamical systems, where communication is limited and there is a strong interaction among subsystems, learning local models and control policies offers great potential for designing high-performance…

Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction, particularly for contact-rich manipulation tasks governed…

Approaches to keeping a dynamical system within state constraints typically rely on a model-based safety condition to limit the control signals. In the face of significant modeling uncertainty, the system can suffer from important…

Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the current state. On the other hand, reinforcement learning…

Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…

This paper proposes a paradigm of uncertainty injection for training deep learning model to solve robust optimization problems. The majority of existing studies on deep learning focus on the model learning capability, while assuming the…

Model-based reinforcement learning has the potential to be more sample efficient than model-free approaches. However, existing model-based methods are vulnerable to model bias, which leads to poor generalization and asymptotic performance…

In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…

Deep learning provides a powerful tool for machine perception when the observations resemble the training data. However, real-world robotic systems must react intelligently to their observations even in unexpected circumstances. This…

Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…

Many real-world domains require safe decision making in uncertain environments. In this work, we introduce a deep reinforcement learning framework for approaching this important problem. We consider a distribution over transition models,…