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07/04/2023
Hierarchical Planning and Policy Shaping Shared Autonomy for Articulated Robots
In this work, we propose a novel shared autonomy framework to operate ar...
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11/11/2022
Efficient Domain Coverage for Vehicles with Second Order Dynamics via Multi-Agent Reinforcement Learning
Collaborative autonomous multi-agent systems covering a specified area h...
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10/23/2022
DMODE: Differential Monocular Object Distance Estimation Module without Class Specific Information
Using a single camera to estimate the distances of objects reduces costs...
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10/23/2022
Online Probabilistic Model Identification using Adaptive Recursive MCMC
The Bayesian paradigm provides a rigorous framework for estimating the w...
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09/15/2022
STPOTR: Simultaneous Human Trajectory and Pose Prediction Using a Non-Autoregressive Transformer for Robot Following Ahead
In this paper, we develop a neural network model to predict future human...
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09/13/2022
DMMGAN: Diverse Multi Motion Prediction of 3D Human Joints using Attention-Based Generative Adverserial Network
Human motion prediction is a fundamental part of many human-robot applic...
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08/15/2022
Towards Inclusive HRI: Using Sim2Real to Address Underrepresentation in Emotion Expression Recognition
Robots and artificial agents that interact with humans should be able to...
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03/29/2022
Multi-Agent Asynchronous Cooperation with Hierarchical Reinforcement Learning
Hierarchical multi-agent reinforcement learning (MARL) has shown a signi...
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09/21/2021
Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps
In this paper, we propose a Visual Teach and Repeat (VTR) algorithm usin...
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06/02/2021
Least-Restrictive Multi-Agent Collision Avoidance via Deep Meta Reinforcement Learning and Optimal Control
Multi-agent collision-free trajectory planning and control subject to di...
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02/14/2021
FaSTrack: a Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking
Real-time, guaranteed safe trajectory planning is vital for navigation i...
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12/07/2020
Real-Time Formal Verification of Autonomous Systems With An FPGA
Hamilton-Jacobi reachability analysis is a powerful technique used to ve...
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12/06/2020
On Infusing Reachability-Based Safety Assurance within Planning Frameworks for Human-Robot Vehicle Interactions
Action anticipation, intent prediction, and proactive behavior are all d...
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11/24/2020
Prediction-Based Reachability for Collision Avoidance in Autonomous Driving
Safety is an important topic in autonomous driving since any collision m...
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11/05/2020
LBGP: Learning Based Goal Planning for Autonomous Following in Front
This paper investigates a hybrid solution which combines deep reinforcem...
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11/04/2020
MBVI: Model-Based Value Initialization for Reinforcement Learning
Model-free reinforcement learning (RL) is capable of learning control po...
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10/28/2020
SFU-Store-Nav: A Multimodal Dataset for Indoor Human Navigation
This article describes a dataset collected in a set of experiments that ...
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09/24/2020
Safe Coverage of Moving Domains for Vehicles with Second Order Dynamics
Autonomous coverage of a specified area by robots operating in close pro...
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12/20/2019
Generating Robust Supervision for Learning-Based Visual Navigation Using Hamilton-Jacobi Reachability
In Bansal et al. (2019), a novel visual navigation framework that combin...
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11/15/2019
Safe Coverage of Compact Domains For Second Order Dynamical Systems
Autonomous systems operating in close proximity with each other to cover...
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03/23/2019
TTR-Based Rewards for Reinforcement Learning with Implicit Model Priors
Model-free reinforcement learning (RL) provides an attractive approach f...
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12/29/2018
On Infusing Reachability-Based Safety Assurance within Probabilistic Planning Frameworks for Human-Robot Vehicle Interactions
Action anticipation, intent prediction, and proactive behavior are all d...
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08/02/2018
Robust Tracking with Model Mismatch for Fast and Safe Planning: an SOS Optimization Approach
In the pursuit of real-time motion planning, a commonly adopted practice...
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07/30/2018
Reach-Avoid Problems via Sum-of-Squares Optimization and Dynamic Programming
Reach-avoid problems involve driving a system to a set of desirable conf...
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06/16/2018