相关论文: MP-RBFN: Learning-based Vehicle Motion Primitives …

Model predictive control (MPC) has proven useful in enabling safe and optimal motion planning for autonomous vehicles. In this paper, we investigate how to achieve MPC-based motion planning when a neural state-space model represents the…

In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…

Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…

Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral…

Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…

Our recent intensive study has found that physics-informed neural networks (PINN) tend to be local approximators after training. This observation leads to this novel physics-informed radial basis network (PIRBN), which can maintain the…

Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…

Physics-Informed Neural Networks (PINNs) have emerged as a powerful framework for solving partial differential equations (PDEs). However, their performance heavily relies on the strategy used to select training points. Conventional adaptive…

Currently, it is hard to reap the benefits of deep learning for Bayesian methods, which allow the explicit specification of prior knowledge and accurately capture model uncertainty. We present Prior-Data Fitted Networks (PFNs). PFNs…

Reinforcement learning (RL) faces challenges in trajectory planning for urban automated driving due to the poor convergence of RL and the difficulty in designing reward functions. Consequently, few RL-based trajectory planning methods can…

Sampling-based motion planners (SBMPs) are widely used to compute dynamically feasible robot paths. However, their reliance on uniform sampling often leads to poor efficiency and slow planning in complex environments. We introduce a novel…

Accurate classification of autonomous vehicle (AV) driving behaviors is critical for safety validation, performance diagnosis, and traffic integration analysis. However, existing approaches primarily rely on numerical time-series modeling…

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…

This paper introduces RouteFinder, a comprehensive foundation model framework to tackle different Vehicle Routing Problem (VRP) variants. Our core idea is that a foundation model for VRPs should be able to represent variants by treating…

Motion cueing algorithms (MCA) are used to control the movement of motion simulation platforms (MSP) to reproduce the motion perception of a real vehicle driver as accurately as possible without exceeding the limits of the workspace of the…

This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…

In the backdrop of an increasingly pressing need for effective urban and highway transportation systems, this work explores the synergy between model-based and learning-based strategies to enhance traffic flow management by use of an…

Part-level representations are important for robust person re-identification (ReID), but in practice feature quality suffers due to the body part misalignment problem. In this paper, we present a robust, compact, and easy-to-use method…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…