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09/18/2023
Pre-training on Synthetic Driving Data for Trajectory Prediction
Accumulating substantial volumes of real-world driving data proves pivot...
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09/18/2023
Guided Online Distillation: Promoting Safe Reinforcement Learning by Offline Demonstration
Safe Reinforcement Learning (RL) aims to find a policy that achieves hig...
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08/29/2023
Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance
This paper presents a differential geometric control approach that lever...
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08/08/2023
DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds
Point clouds are naturally sparse, while image pixels are dense. The inc...
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07/27/2023
NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detection
We present NeRF-Det, a novel method for indoor 3D detection with posed R...
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06/29/2023
An Efficient General-Purpose Modular Vision Model via Multi-Task Heterogeneous Training
We present a model that can perform multiple vision tasks and can be ada...
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06/15/2023
Residual Q-Learning: Offline and Online Policy Customization without Value
Imitation Learning (IL) is a widely used framework for learning imitativ...
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06/15/2023
Learning from Local Experience: Informed Sampling Distributions for High Dimensional Motion Planning
This paper presents a sampling-based motion planning framework that leve...
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06/14/2023
Skill-Critic: Refining Learned Skills for Reinforcement Learning
Hierarchical reinforcement learning (RL) can accelerate long-horizon dec...
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06/02/2023
Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework
In this work, we investigate the potential of improving multi-task train...
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05/12/2023
Double-Iterative Gaussian Process Regression for Modeling Error Compensation in Autonomous Racing
Autonomous racing control is a challenging research problem as vehicles ...
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05/04/2023
Learning Generalizable Pivoting Skills
The skill of pivoting an object with a robotic system is challenging for...
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04/27/2023
SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detection
By identifying four important components of existing LiDAR-camera 3D obj...
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04/27/2023
Quadric Representations for LiDAR Odometry, Mapping and Localization
Current LiDAR odometry, mapping and localization methods leverage point-...
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04/03/2023
A Simple Approach for General Task-Oriented Picking using Placing constraints
Pick-and-place is an important manipulation task in domestic or manufact...
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04/03/2023
Open-Vocabulary Point-Cloud Object Detection without 3D Annotation
The goal of open-vocabulary detection is to identify novel objects based...
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03/25/2023
Active Finetuning: Exploiting Annotation Budget in the Pretraining-Finetuning Paradigm
Given the large-scale data and the high annotation cost, pretraining-fin...
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03/24/2023
Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulation
Traffic simulation plays a crucial role in evaluating and improving auto...
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02/03/2023
AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners
Diffusion models have demonstrated their powerful generative capability ...
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01/30/2023
Online Learning Based Mobile Robot Controller Adaptation for Slip Reduction
Slip is a very common phenomena present in wheeled mobile robotic system...
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01/02/2023
Towards Modeling and Influencing the Dynamics of Human Learning
Humans have internal models of robots (like their physical capabilities)...
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12/20/2022
Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems
Continuous formulations of trajectory planning problems have two main be...
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12/02/2022
Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks
Learning generalizable insertion skills in a data-efficient manner has l...
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11/17/2022
Outracing Human Racers with Model-based Autonomous Racing
Autonomous racing has become a popular sub-topic of autonomous driving i...
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10/31/2022
Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces
In recent years, impressive results have been achieved in robotic manipu...
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10/21/2022
PaCo: Parameter-Compositional Multi-Task Reinforcement Learning
The purpose of multi-task reinforcement learning (MTRL) is to train a si...
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10/05/2022
Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detection
While recent camera-only 3D detection methods leverage multiple timestep...
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10/01/2022
Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning
Humans are capable of abstracting various tasks as different combination...
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09/26/2022
Center Feature Fusion: Selective Multi-Sensor Fusion of Center-based Objects
Leveraging multi-modal fusion, especially between camera and LiDAR, has ...
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08/09/2022
Analyzing and Enhancing Closed-loop Stability in Reactive Simulation
Simulation has played an important role in efficiently evaluating self-d...
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08/06/2022
Generalizability Analysis of Graph-based Trajectory Predictor with Vectorized Representation
Trajectory prediction is one of the essential tasks for autonomous vehic...
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07/19/2022
What Matters for 3D Scene Flow Network
3D scene flow estimation from point clouds is a low-level 3D motion perc...
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07/08/2022
SST-Calib: Simultaneous Spatial-Temporal Parameter Calibration between LIDAR and Camera
With information from multiple input modalities, sensor fusion-based alg...
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07/08/2022
Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving
Planning under social interactions with other agents is an essential pro...
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07/05/2022
Open-Vocabulary 3D Detection via Image-level Class and Debiased Cross-modal Contrastive Learning
Current point-cloud detection methods have difficulty detecting the open...
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05/24/2022
Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning
Offline Reinforcement learning (RL) has shown potent in many safe-critic...
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04/21/2022
PreTraM: Self-Supervised Pre-training via Connecting Trajectory and Map
Deep learning has recently achieved significant progress in trajectory f...
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04/21/2022
Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning
This paper presents an integrated motion planning system for autonomous ...
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04/19/2022
Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction
Conditional behavior prediction (CBP) builds up the foundation for a coh...
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04/17/2022
Long-Horizon Motion Planning via Sampling and Segmented Trajectory Optimization
This paper presents a hybrid robot motion planner that generates long-ho...
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04/17/2022
Robust Task Planning for Assembly Lines with Human-Robot Collaboration
Efficient and robust task planning for a human-robot collaboration (HRC)...
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03/29/2022
Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints
Vision-based tactile sensors typically utilize a deformable elastomer an...
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03/28/2022
Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction
Motion forecasting in highly interactive scenarios is a challenging prob...
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03/28/2022
Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks
Manipulating deformable linear objects by robots has a wide range of app...
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03/17/2022
DetMatch: Two Teachers are Better Than One for Joint 2D and 3D Semi-Supervised Object Detection
While numerous 3D detection works leverage the complementary relationshi...
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02/20/2022
Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems
In this paper, we present an innovative risk-bounded motion planning met...
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02/10/2022
Transferable and Adaptable Driving Behavior Prediction
While autonomous vehicles still struggle to solve challenging situations...
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01/04/2022
Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments
Control barrier functions (CBFs) have become a popular tool to enforce s...
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12/15/2021
Towards General and Efficient Active Learning
Active learning aims to select the most informative samples to exploit l...
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12/03/2021