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09/15/2023
Object-oriented mapping in dynamic environments
Grid maps, especially occupancy grid maps, are ubiquitous in many mobile...
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08/18/2023
Integrating Expert Guidance for Efficient Learning of Safe Overtaking in Autonomous Driving Using Deep Reinforcement Learning
Overtaking on two-lane roads is a great challenge for autonomous vehicle...
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05/26/2023
Localization under consistent assumptions over dynamics
Accurate maps are a prerequisite for virtually all autonomous vehicle ta...
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05/12/2023
Beyond invariant representation learning: linearly alignable latent spaces for efficient closed-form domain adaptation
Optimal transport (OT) is a powerful geometric tool used to compare and ...
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03/24/2023
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features
Planning robotic manipulation tasks, especially those that involve inter...
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03/23/2023
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation
Pre-defined manipulation primitives are widely used for cloth manipulati...
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02/21/2023
Constrained Generative Sampling of 6-DoF Grasps
Most state-of-the-art data-driven grasp sampling methods propose stable ...
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01/10/2023
Towards High-Definition Maps: a Framework Leveraging Semantic Segmentation to Improve NDT Map Compression and Descriptivity
High-Definition (HD) maps are needed for robust navigation of autonomous...
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01/05/2023
Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints
Matrix Lie groups are an important class of manifolds commonly used in c...
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12/07/2022
LSVL: Large-scale season-invariant visual localization for UAVs
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavil...
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09/02/2022
Co-Imitation: Learning Design and Behaviour by Imitation
The co-adaptation of robots has been a long-standing research endeavour ...
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08/28/2022
Learning Stable Robotic Skills on Riemannian Manifolds
In this paper, we propose an approach to learn stable dynamical systems ...
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08/23/2022
Generating people flow from architecture of real unseen environments
Mapping people dynamics is a crucial skill, because it enables robots to...
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07/28/2022
Learning Based High-Level Decision Making for Abortable Overtaking in Autonomous Vehicles
Autonomous vehicles are a growing technology that aims to enhance safety...
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06/29/2022
Online vs. Offline Adaptive Domain Randomization Benchmark
Physics simulators have shown great promise for conveniently learning re...
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04/18/2022
Training and Evaluation of Deep Policies using Reinforcement Learning and Generative Models
We present a data-efficient framework for solving sequential decision-ma...
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03/23/2022
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects
Evaluation of grasps on deformable 3D objects is a little-studied proble...
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03/17/2022
Active Visuo-Haptic Object Shape Completion
Recent advancements in object shape completion have enabled impressive o...
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03/07/2022
A Unified Formulation of Geometry-aware Dynamic Movement Primitives
Learning from demonstration (LfD) is considered as an efficient way to t...
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01/30/2022
A Safety-Critical Decision Making and Control Framework Combining Machine Learning and Rule-based Algorithms
While artificial-intelligence-based methods suffer from lack of transpar...
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01/27/2022
SafeAPT: Safe Simulation-to-Real Robot Learning using Diverse Policies Learned in Simulation
The framework of Simulation-to-real learning, i.e, learning policies in ...
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01/20/2022
DROPO: Sim-to-Real Transfer with Offline Domain Randomization
In recent years, domain randomization has gained a lot of traction as a ...
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12/03/2021
A Survey of Robot Manipulation in Contact
In this survey we present the current status on robots performing manipu...
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11/03/2021
Manipulation of granular materials by learning particle interactions
Manipulation of granular materials such as sand or rice remains an unsol...
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10/05/2021
Season-invariant GNSS-denied visual localization for UAVs
Knowing the position and orientation of an UAV without GNSS is a critica...
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09/14/2021
Vision Transformer for Learning Driving Policies in Complex Multi-Agent Environments
Driving in a complex urban environment is a difficult task that requires...
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09/11/2021
Deformation-Aware Data-Driven Grasp Synthesis
Grasp synthesis for 3D deformable objects remains a little-explored topi...
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09/10/2021
Closing the Sim2Real Gap in Dynamic Cloth Manipulation
Cloth manipulation is a challenging task due to the many degrees of free...
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09/02/2021
MACRPO: Multi-Agent Cooperative Recurrent Policy Optimization
This work considers the problem of learning cooperative policies in mult...
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07/19/2021
Towards synthesizing grasps for 3D deformable objects with physics-based simulation
Grasping deformable objects is not well researched due to the complexity...
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06/29/2021
Evolving-Graph Gaussian Processes
Graph Gaussian Processes (GGPs) provide a data-efficient solution on gra...
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05/25/2021
Affine Transport for Sim-to-Real Domain Adaptation
Sample-efficient domain adaptation is an open problem in robotics. In th...
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03/31/2021
Planning for Safe Abortable Overtaking Maneuvers in Autonomous Driving
Overtaking is one of the most challenging tasks in driving, and the curr...
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03/26/2021
Increasing the Efficiency of Policy Learning for Autonomous Vehicles by Multi-Task Representation Learning
Driving in a dynamic, multi-agent, and complex urban environment is a di...
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03/26/2021
GNSS-denied geolocalization of UAVs by visual matching of onboard camera images with orthophotos
Localization of low-cost unmanned aerial vehicles(UAVs) often relies on ...
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03/25/2021
Automatic Assembly Planning based on Digital Product Descriptions
This paper proposes a new concept in which a digital twin derived from a...
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03/12/2021
Augmented Environment Representations with Complete Object Models
While 2D occupancy maps commonly used in mobile robotics enable safe nav...
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03/12/2021
Domain Curiosity: Learning Efficient Data Collection Strategies for Domain Adaptation
Domain adaptation is a common problem in robotics, with applications suc...
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03/08/2021
DDGC: Generative Deep Dexterous Grasping in Clutter
Recent advances in multi-fingered robotic grasping have enabled fast 6-D...
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12/17/2020
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps
While there exists a large number of methods for manipulating rigid obje...
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12/11/2020
Unsupervised Learning of slow features for Data Efficient Regression
Research in computational neuroscience suggests that the human brain's u...
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11/02/2020
Differential Dynamic Programming with Nonlinear Safety Constraints Under System Uncertainties
Safe operation of systems such as robots requires them to plan and execu...
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10/26/2020
POMDP Manipulation Planning under Object Composition Uncertainty
Manipulating unknown objects in a cluttered environment is difficult bec...
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10/16/2020
Few-shot model-based adaptation in noisy conditions
Few-shot adaptation is a challenging problem in the context of simulatio...
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10/16/2020
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements
Accurately modeling local surface properties of objects is crucial to ma...
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09/02/2020
A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping
Soft robotic hands and grippers are increasingly attracting attention as...
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08/06/2020
Notes on the Behavior of MC Dropout
Among the various options to estimate uncertainty in deep neural network...
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08/03/2020
Compliant Manipulation of Free-Floating Objects
Compliant motions allow alignment of workpieces using naturally occurrin...
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07/26/2020
Data-efficient visuomotor policy training using reinforcement learning and generative models
We present a data-efficient framework for solving deep visuomotor sequen...
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05/22/2020