相关论文: PLOT: Progressive Localization via Optimal Transpo…

In many scenarios, unmanned aerial vehicles (UAVs), aka drones, need to have the capability of autonomous flying to carry out their mission successfully. In order to allow these autonomous flights, drones need to know their location…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

This paper presents a neural-enhanced probabilistic model and corresponding factor graph-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The introduced hybrid probabilistic model consists of…

We propose novel fast algorithms for optimal transport (OT) utilizing a cyclic symmetry structure of input data. Such OT with cyclic symmetry appears universally in various real-world examples: image processing, urban planning, and graph…

Interpreting the inner function of neural networks is crucial for the trustworthy development and deployment of these black-box models. Prior interpretability methods focus on correlation-based measures to attribute model decisions to…

Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…

Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…

To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

In this article, we investigate the optimal path planning for aerial load transportation in complex, dynamic, and static environments using Particle Swarm Optimization (PSO). A hierarchical optimal control system is designed for a quadrotor…

Explicit neural surface representations allow for exact and efficient extraction of the encoded surface at arbitrary precision, as well as analytic derivation of differential geometric properties such as surface normal and curvature. Such…

We study multi-marginal optimal transport (MOT) problems where the underlying cost has a graphical structure. These graphical multi-marginal optimal transport problems have found applications in several domains including traffic flow…

Optimal Transport, a theory for optimal allocation of resources, is widely used in various fields such as astrophysics, machine learning, and imaging science. However, many applications impose elementwise constraints on the transport plan…

Deep clustering, which learns representation and semantic clustering without labels information, poses a great challenge for deep learning-based approaches. Despite significant progress in recent years, most existing methods focus on…

Computing optimal transport (OT) for general high-dimensional data has been a long-standing challenge. Despite much progress, most of the efforts including neural network methods have been focused on the static formulation of the OT…

In this paper, we study the problem of online tracking in linear control systems, where the objective is to follow a moving target. Unlike classical tracking control, the target is unknown, non-stationary, and its state is revealed…

Nonlinear causal discovery from observational data imposes strict identifiability assumptions on the formulation of structural equations utilized in the data generating process. The evaluation of structure learning methods under assumption…

Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…

Causal representation learning has attracted significant research interest during the past few years, as a means for improving model generalization and robustness. Causal representations of interventional image pairs (also called…

Selecting prototypical examples from a source distribution to represent a target data distribution is a fundamental problem in machine learning. Existing subset selection methods often rely on implicit importance scores, which can be skewed…

Precise object placement remains underexplored in aerial manipulation, where most systems rely on predefined target coordinates and focus primarily on grasping and control. Specifying exact placement poses, however, is cumbersome in…