相关论文: System-Level Error Propagation and Tail-Risk Ampli…

Deep Reinforcement Learning (DRL) based navigation methods have demonstrated promising results for mobile robots, but suffer from limited action flexibility in confined spaces. Conventional DRL approaches predominantly learn forward-motion…

Why does our visual system fail to reconstruct reality, when we look at certain patterns? Where do Geometrical illusions start to emerge in the visual pathway? How far should we take computational models of vision with the same visual…

The theory of state tracking in recurrent architectures has predominantly focused on expressive capacity: whether a fixed architecture can theoretically realize a set of symbolic transition rules. We argue that equally important is error…

In this paper, we propose a novel cross-platform fault-tolerant surfacing controller for underwater robots, based on reinforcement learning (RL). Unlike conventional approaches, which require explicit identification of malfunctioning…

Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage of unsafe states. This limitation leads…

Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art path planners do not fully account for the deformable nature of…

Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…

Recursive learning -- where models are trained on data generated by previous versions of themselves -- is increasingly common in large language models, autonomous agents, and self-supervised systems. However, standard performance metrics…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

This study introduces a robust planning framework that utilizes a model predictive control (MPC) approach, enhanced by incorporating signal temporal logic (STL) specifications. This marks the first-ever study to apply STL-guided trajectory…

Triple Modular Redundancy (TMR) is one of the most common techniques in fault-tolerant systems, in which the output is determined by a majority voter. However, the design diversity of replicated modules and/or soft errors that are more…

Ground-penetrating radar (GPR) has emerged as a prominent tool for imaging internal defects in cylindrical structures, such as columns, utility poles, and tree trunks. However, accurately reconstructing both the shape and permittivity of…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

Global Positioning System (GPS) spoofing involves transmitting fake signals that mimic those from GPS satellites, causing the GPS receivers to calculate incorrect Positioning, Navigation, and Timing (PNT) information. Recently, there has…

Accurate and interpretable bearing fault classification is critical for ensuring the reliability of rotating machinery, particularly under variable operating conditions where domain shifts can significantly degrade model performance. This…

Extended Reality (XR) systems deployed in industrial and operational settings rely on Visual--Inertial Odometry (VIO) for continuous six-degree-of-freedom pose tracking, yet these environments often involve sensing conditions that deviate…

Visual-inertial SLAM is essential for robot navigation in GPS-denied environments, e.g. indoor, underground. Conventionally, the performance of visual-inertial SLAM is evaluated with open-loop analysis, with a focus on the drift level of…

Overhead lines are generally used for electrical energy transmission. Also, XLPE underground cable lines are generally used in the city center and the crowded areas to provide electrical safety, so high voltage underground cable lines are…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Reliable systems require effective monitoring techniques for fault identification. System-level diagnosis was originally proposed in the 1960s as a test-based approach to monitor and identify faulty components of a general system. Over the…