相关论文: Learning-Based Planning for Improving Science Retu…

In training machine learning models for land cover semantic segmentation there is a stark contrast between the availability of satellite imagery to be used as inputs and ground truth data to enable supervised learning. While thousands of…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

The Agile Earth Observation Satellite Scheduling Problem (AEOSSP) entails finding the subset of observation targets to be scheduled along the satellite's orbit while meeting operational constraints of time, energy and memory. The problem of…

Deep learning's success has been attributed to the training of large, overparameterized models on massive amounts of data. As this trend continues, model training has become prohibitively costly, requiring access to powerful computing…

In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…

Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

The recent increase in volume and complexity of available astronomical data has led to a wide use of supervised machine learning techniques. Active learning strategies have been proposed as an alternative to optimize the distribution of…

Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…

The paper focuses on a classical tracking model, subspace learning, grounded on the fact that the targets in successive frames are considered to reside in a low-dimensional subspace or manifold due to the similarity in their appearances. In…

Reinforcement Learning has been able to solve many complicated robotics tasks without any need for feature engineering in an end-to-end fashion. However, learning the optimal policy directly from the sensory inputs, i.e the observations,…

Two sampling strategies are investigated to enhance efficiency in training a deep learning object detection model. These sampling strategies are employed under the assumption of Lipschitz continuity of deep learning models. The first…

Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…

Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…

Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…

Robots are expected to replace menial tasks such as housework. Some of these tasks include nonprehensile manipulation performed without grasping objects. Nonprehensile manipulation is very difficult because it requires considering the…

Imitation learning provides a powerful framework for goal-conditioned visual navigation in mobile robots, enabling obstacle avoidance while respecting human preferences and social norms. However, its effectiveness depends critically on the…

Recent advances in deep reinforcement learning (deep RL) enable researchers to solve challenging control problems, from simulated environments to real-world robotic tasks. However, deep RL algorithms are known to be sensitive to the problem…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…