相关论文: UF-RNN: Real-Time Adaptive Motion Generation Using…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

Robots interacting with humans must not only generate learned movements in real-time, but also infer the intent behind observed behaviors and estimate the confidence of their own inferences. This paper proposes a unified model that achieves…

Many real-world datasets are time series that are sequentially collected and contain rich temporal information. Thus, a common interest in practice is to capture dynamics of time series and predict their future evolutions. To this end, the…

This work explores the feasibility of steering a drone with a (recurrent) neural network, based on input from a forward looking camera, in the context of a high-level navigation task. We set up a generic framework for training a network to…

Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…

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,…

Reliable uncertainty quantification in deep neural networks is very crucial in safety-critical applications such as automated driving for trustworthy and informed decision-making. Assessing the quality of uncertainty estimates is…

Human motion modelling is a classical problem at the intersection of graphics and computer vision, with applications spanning human-computer interaction, motion synthesis, and motion prediction for virtual and augmented reality. Following…

Deep neural networks (DNNs) are increasingly being used in autonomous systems. However, DNNs do not generalize well to domain shift. Adapting to a continuously evolving environment is a safety-critical challenge inevitably faced by all…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Diversity of environments is a key challenge that causes learned robotic controllers to fail due to the discrepancies between the training and evaluation conditions. Training from demonstrations in various conditions can mitigate---but not…

Spatio-temporal dynamics of physical processes are generally modeled using partial differential equations (PDEs). Though the core dynamics follows some principles of physics, real-world physical processes are often driven by unknown…

Sequential or chained models are increasingly prevalent in machine learning for scientific applications, due to their flexibility and ease of development. Chained models are particularly useful when a task is separable into distinct steps…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…