相关论文: Context-Aware Deep Lagrangian Networks for Model P…

Learning under non-smooth objectives remains a fundamental challenge in machine learning, as abrupt changes in conditioning variables can induce highly non-smooth loss landscapes and destabilize optimization. This difficulty is particularly…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

Obstacle avoidance in complex and dynamic environments is a critical challenge for real-time robot navigation. Model-based and learning-based methods often fail in highly dynamic scenarios because traditional methods assume a static…

The timeline of computer vision research is marked with advances in learning and utilizing efficient contextual representations. Most of them, however, are targeted at improving model performance on a single downstream task. We consider a…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

The world is filled with a wide variety of objects. For robots to be useful, they need the ability to find arbitrary objects described by people. In this paper, we present LeLaN(Learning Language-conditioned Navigation policy), a novel…

Delays frequently occur in real-world environments, yet standard reinforcement learning (RL) algorithms often assume instantaneous perception of the environment. We study random sensor delays in POMDPs, where observations may arrive…

Most deep trackers still follow the guidance of the siamese paradigms and use a template that contains only the target without any contextual information, which makes it difficult for the tracker to cope with large appearance changes, rapid…

Most existing re-identification methods focus on learning robust and discriminative features with deep convolution networks. However, many of them consider content similarity separately and fail to utilize the context information of the…

In the framework of learned image compression, the context model plays a pivotal role in capturing the dependencies among latent representations. To reduce the decoding time resulting from the serial autoregressive context model, the…

Despite recent success of deep network-based Reinforcement Learning (RL), it remains elusive to achieve human-level efficiency in learning novel tasks. While previous efforts attempt to address this challenge using meta-learning strategies,…

Advances in the field of environment perception for automated agents have resulted in an ongoing increase in generated sensor data. The available computational resources to process these data are bound to become insufficient for real-time…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

The control of nonlinear systems with unknown dynamics has been a significant field of research for many years. This paper presents a novel data-driven optimal adaptive control structure with less control effort and faster adaptation than…

Increasing the semantic understanding and contextual awareness of machine learning models is important for improving robustness and reducing susceptibility to data shifts. In this work, we leverage contextual awareness for the anomaly…

Forecasting the future behavior of all traffic agents in the vicinity is a key task to achieve safe and reliable autonomous driving systems. It is a challenging problem as agents adjust their behavior depending on their intentions, the…

General contact-rich manipulation problems are long-standing challenges in robotics due to the difficulty of understanding complicated contact physics. Deep reinforcement learning (RL) has shown great potential in solving robot manipulation…

Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a…

Machine learning frameworks for physical problems must capture and enforce physical constraints that preserve the structure of dynamical systems. Many existing approaches achieve this by integrating physical operators into neural networks.…