相关论文: Novelty Detection on a Mobile Robot Using Habituat…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

A common assumption of novelty detection is that the distribution of both "normal" and "novel" data are static. This, however, is often not the case - for example scenarios where data evolves over time or scenarios in which the definition…

The ability for autonomous agents to learn and conform to human norms is crucial for their safety and effectiveness in social environments. While recent work has led to frameworks for the representation and inference of simple social rules,…

Differentiable simulation has become a powerful tool for system identification. While prior work has focused on identifying robot properties using robot-specific data or object properties using object-specific data, our approach calibrates…

Reinforcement learning (RL) using world models has found significant recent successes. However, when a sudden change to world mechanics or properties occurs then agent performance and reliability can dramatically decline. We refer to the…

Roboticists usually test new control software in simulation environments before evaluating its functionality on real-world robots. Simulations reduce the risk of damaging the hardware and can significantly increase the development process's…

The brain modifies its synaptic strengths during learning in order to better adapt to its environment. However, the underlying plasticity rules that govern learning are unknown. Many proposals have been suggested, including Hebbian…

Collaborative filtering is the process of making recommendations regarding the potential preference of a user, for example shopping on the Internet, based on the preference ratings of the user and a number of other users for various items.…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…

Controlling sensori-motor systems in higher animals or complex robots is a challenging combinatorial problem, because many sensory signals need to be simultaneously coordinated into a broad behavioural spectrum. To rapidly interact with the…

In this study, we propose a predictive model composed of a recurrent neural network including parametric bias and stochastic elements, and an environmentally adaptive robot control method including variance minimization using the model.…

Data mining offers a diverse toolbox for extracting meaningful structures from complex datasets, with anomaly detection emerging as a critical subfield particularly in the context of streaming or real-time data. Within anomaly detection,…

For more than a decade now, academicians and online platform administrators have been studying solutions to the problem of bot detection. Bots are computer algorithms whose use is far from being benign: malicious bots are purposely created…

Sample selection is an effective strategy to mitigate the effect of label noise in robust learning. Typical strategies commonly apply the small-loss criterion to identify clean samples. However, those samples lying around the decision…

Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…