相关论文: ADM-DP: Adaptive Dynamic Modality Diffusion Policy…

Ensuring safe interactions between autonomous vehicles (AVs) and human drivers in mixed traffic systems remains a major challenge, particularly in complex, high-risk scenarios. This paper presents a cognition-decision framework that…

We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose…

Autonomous robot navigation systems often rely on hierarchical planning, where global planners compute collision-free paths without considering dynamics, and local planners enforce dynamics constraints to produce executable commands. This…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

Deep reinforcement learning has been applied successfully to solve various real-world problems and the number of its applications in the multi-agent settings has been increasing. Multi-agent learning distinctly poses significant challenges…

In this paper, a novel adaptive optimal control strategy is proposed to achieve the cooperative optimal output regulation of continuous-time linear multi-agent systems based on adaptive dynamic programming (ADP). The proposed method is…

Multi-agent distributed consensus optimization problems arise in many signal processing applications. Recently, the alternating direction method of multipliers (ADMM) has been used for solving this family of problems. ADMM based distributed…

This paper aims to improve robots' versatility and adaptability by allowing them to use a large variety of end-effector tools and quickly adapt to new tools. We propose AdaGrasp, a method to learn a single grasping policy that generalizes…

This paper considers the problem of managing single or multiple robots and proposes a cloud-based robot fleet manager, Adaptive Goal Management (AGM) System, for teams of unmanned mobile robots. The AGM system uses an adaptive goal…

Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…

In computer vision tasks, features often come from diverse representations, domains (e.g., indoor and outdoor), and modalities (e.g., text, images, and videos). Effectively fusing these features is essential for robust performance,…

Encouraged by the remarkable achievements of language and vision foundation models, developing generalist robotic agents through imitation learning, using large demonstration datasets, has become a prominent area of interest in robot…

Distributed trajectory optimization via ADMM-DDP is a powerful approach for coordinating multi-agent systems, but it requires extensive tuning of tightly coupled hyperparameters that jointly govern local task performance and global…

Achieving both safety guarantees and real-time performance in cooperative vehicle coordination remains a fundamental challenge, particularly in dynamic and uncertain environments. Existing methods often suffer from insufficient uncertainty…

Dynamic spectrum management is recognized as a key technique to tackle interference in multi-user multi-carrier communication systems and networks. However existing dynamic spectrum management algorithms may not be suitable when the…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Cooperative perception enhances autonomous driving by leveraging Vehicle-to-Everything (V2X) communication for multi-agent sensor fusion. However, most existing methods rely on single-modal data sharing, limiting fusion performance,…

Self-adaptive systems are capable of adjusting their behavior to cope with the changes in environment and itself. These changes may cause runtime uncertainty, which refers to the system state of failing to achieve appropriate…

Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…

In dynamic environments such as warehouses, hospitals, and homes, robots must seamlessly transition between gross motion and precise manipulations to complete complex tasks. However, current Vision-Language-Action (VLA) frameworks, largely…