相关论文: Vision-driven River Following of UAV via Safe Rein…

Good temporal representations are crucial for video understanding, and the state-of-the-art video recognition framework is based on two-stream networks. In such framework, besides the regular ConvNets responsible for RGB frame inputs, a…

This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…

In many RL applications, ensuring an agent's actions adhere to constraints is crucial for safety. Most previous methods in Action-Constrained Reinforcement Learning (ACRL) employ a projection layer after the policy network to correct the…

Landing safely in crowded urban environments remains an essential yet challenging endeavor for Unmanned Aerial Vehicles (UAVs), especially in emergency situations. In this work, we propose a risk-aware approach that harnesses semantic…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

The problem with existing camera-based Deep Reinforcement Learning approaches is twofold: they rarely integrate high-level scene context into the feature representation, and they rely on rigid, fixed reward functions. To address these…

Deep reinforcement learning (DRL) provides a promising way for intelligent agents (e.g., autonomous vehicles) to learn to navigate complex scenarios. However, DRL with neural networks as function approximators is typically considered a…

Video generation models produce visually coherent content but struggle with tasks requiring spatial reasoning and multi-step planning. Reinforcement learning (RL) offers a path to improve generalization, but its effectiveness in video…

Connected and automated vehicles (CAVs) have recently gained prominence in traffic research due to advances in communication technology and autonomous driving. Various longitudinal control strategies for CAVs have been developed to enhance…

The Vision-and-Language Navigation (VLN) task entails an agent following navigational instruction in photo-realistic unknown environments. This challenging task demands that the agent be aware of which instruction was completed, which…

Fine-tuning large language models (LLMs) for downstream tasks typically exhibit a fundamental safety-capability tradeoff, where improving task performance degrades safety alignment even on benign datasets. This degradation persists across…

Vision-Language Navigation (VLN) is a task where agents learn to navigate following natural language instructions. The key to this task is to perceive both the visual scene and natural language sequentially. Conventional approaches exploit…

Autonomous Unmanned Aerial Vehicles (UAVs) have revolutionized industries through their versatility with applications including aerial surveillance, search and rescue, agriculture, and delivery. Their autonomous capabilities offer unique…

Underwater docking is critical to enable the persistent operation of Autonomous Underwater Vehicles (AUVs). For this, the AUV must be capable of detecting and localizing the docking station, which is complex due to the highly dynamic…

Current Vision-Language-Action (VLA) paradigms in autonomous driving primarily rely on Imitation Learning (IL), which introduces inherent challenges such as distribution shift and causal confusion. Online Reinforcement Learning offers a…

This work presents a study on parallel and distributional deep reinforcement learning applied to the mapless navigation of UAVs. For this, we developed an approach based on the Soft Actor-Critic method, producing a distributed and…

We propose a reinforcement learning (RL) framework for the dynamic selection of the filter parameter in Evolve-Filter (EF) regularization strategies for incompressible turbulent flows. Instead of prescribing the filter radius heuristically,…

Audio-visual speech recognition (AVSR) has gained remarkable success for ameliorating the noise-robustness of speech recognition. Mainstream methods focus on fusing audio and visual inputs to obtain modality-invariant representations.…

With the continued introduction of driverless events to Formula:Society of Automotive Engineers (F:SAE) competitions around the world, teams are investigating all aspects of the autonomous vehicle stack. This paper presents the use of Deep…

Reinforcement learning (RL) algorithms are designed to optimize problem-solving by learning actions that maximize rewards, a task that becomes particularly challenging in random and nonstationary environments. Even advanced RL algorithms…