相关论文: PADiff: Predictive and Adaptive Diffusion Policies…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…

Handling heterogeneity and unpredictability are two core problems in pervasive computing. The challenge is to seamlessly integrate devices with varying computational resources in a dynamic environment to form a cohesive system that can…

Contact-rich manipulation is central to many everyday human activities, requiring continuous adaptation to contact uncertainty and external disturbances through multi-modal perception, particularly vision and tactile feedback. While…

With the rapid development of imaging sensor technology in the field of remote sensing, multi-modal remote sensing data fusion has emerged as a crucial research direction for land cover classification tasks. While diffusion models have made…

This paper introduces Hierarchical Diffusion Policy (HDP), a hierarchical agent for multi-task robotic manipulation. HDP factorises a manipulation policy into a hierarchical structure: a high-level task-planning agent which predicts a…

In this letter we focus on designing self-organizing diffusion mobile adaptive networks where the individual agents are allowed to move in pursuit of an objective (target). The well-known Adapt-then-Combine (ATC) algorithm is already…

We present the ADaptive Adversarial Imitation Learning (ADAIL) algorithm for learning adaptive policies that can be transferred between environments of varying dynamics, by imitating a small number of demonstrations collected from a single…

Imputation of missing images via source-to-target modality translation can improve diversity in medical imaging protocols. A pervasive approach for synthesizing target images involves one-shot mapping through generative adversarial networks…

Autonomous driving technology has seen significant advancements, but existing models often fail to fully capture the complexity of multi-agent environments, where interactions between dynamic agents are critical. To address this, we propose…

Structural topology optimization, which aims to find the optimal physical structure that maximizes mechanical performance, is vital in engineering design applications in aerospace, mechanical, and civil engineering. Generative adversarial…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Existing imitation learning methods decouple perception and action, which overlooks the causal reciprocity between sensory representations and action execution that humans naturally leverage for adaptive behaviors. To bridge this gap, we…

Cooperative multi-agent reinforcement learning often assumes a fixed execution team, yet many decentralized systems must operate with varying numbers of active agents during deployment. We study this setting under episodic roster variation:…

This paper introduces a formal definition of the setting of ad hoc teamwork under partial observability and proposes a first-principled model-based approach which relies only on prior knowledge and partial observations of the environment in…

Distributed adaptive networks achieve better estimation performance by exploiting temporal and as well spatial diversity while consuming few resources. Recent works have studied the single task distributed estimation problem, in which the…

Adaptive networks are well-suited to perform decentralized information processing and optimization tasks and to model various types of self-organized and complex behavior encountered in nature. Adaptive networks consist of a collection of…

Advances in ad hoc teamwork have the potential to create agents that collaborate robustly in real-world applications. Agents deployed in the real world, however, are vulnerable to adversaries with the intent to subvert them. There has been…

Ad hoc teamwork poses a challenging problem, requiring the design of an agent to collaborate with teammates without prior coordination or joint training. Open ad hoc teamwork (OAHT) further complicates this challenge by considering…

Planning for ad hoc teamwork is challenging because it involves agents collaborating without any prior coordination or communication. The focus is on principled methods for a single agent to cooperate with others. This motivates…

Decentralized multi-agent path finding (MAPF) routes a team of agents on a shared grid, each acting from its own local view. The standard solution trains one shared neural policy with Proximal Policy Optimization (PPO), a popular on-policy…