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09/17/2023
Optimal Scene Graph Planning with Large Language Model Guidance
Recent advances in metric, semantic, and topological mapping have equipp...
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09/17/2023
Hamiltonian Dynamics Learning from Point Cloud Observations for Nonholonomic Mobile Robot Control
Reliable autonomous navigation requires adapting the control policy of a...
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09/05/2023
Distributed Variational Inference for Online Supervised Learning
Developing efficient solutions for inference problems in intelligent sen...
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07/10/2023
Learning to Identify Graphs from Node Trajectories in Multi-Robot Networks
The graph identification problem consists of discovering the interaction...
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12/03/2022
Distributionally Robust Lyapunov Function Search Under Uncertainty
This paper develops methods for proving Lyapunov stability of dynamical ...
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12/03/2022
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
This paper proposes a novel model-based policy gradient algorithm for tr...
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11/29/2022
Lie Group Forced Variational Integrator Networks for Learning and Control of Robot Systems
Incorporating prior knowledge of physics laws and structural properties ...
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10/04/2022
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
This paper considers enforcing safety and stability of dynamical systems...
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09/26/2022
Learning Continuous Control Policies for Information-Theoretic Active Perception
This paper proposes a method for learning continuous control policies fo...
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09/20/2022
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
In this paper, we develop an approach that enables autonomous robots to ...
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09/20/2022
LEMURS: Learning Distributed Multi-Robot Interactions
This paper presents LEMURS, an algorithm for learning scalable multi-rob...
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07/30/2022
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of safely coordinating a team of sensor...
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07/22/2022
Robust and Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Stability and safety are critical properties for successful deployment o...
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07/01/2022
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers
Active Simultaneous Localization and Mapping (SLAM) is the problem of pl...
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06/22/2022
Latent Policies for Adversarial Imitation Learning
This paper considers learning robot locomotion and manipulation tasks fr...
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04/23/2022
TerrainMesh: Metric-Semantic Terrain Reconstruction from Aerial Images Using Joint 2D-3D Learning
This paper considers outdoor terrain mapping using RGB images obtained f...
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04/15/2022
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
The problem of active mapping aims to plan an informative sequence of se...
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02/19/2022
Safe Control Synthesis with Uncertain Dynamics and Constraints
This paper considers safe control synthesis for dynamical systems in the...
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02/18/2022
DARL1N: Distributed multi-Agent Reinforcement Learning with One-hop Neighbors
Most existing multi-agent reinforcement learning (MARL) methods are limi...
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01/12/2022
Physics-guided Learning-based Adaptive Control on the SE(3) Manifold
In real-world robotics applications, accurate models of robot dynamics a...
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12/09/2021
Safe Autonomous Navigation for Systems with Learned SE(3) Hamiltonian Dynamics
Safe autonomous navigation in unknown environments is an important probl...
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12/08/2021
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations
The demand for robot exploration in unstructured and unknown environment...
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10/14/2021
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
This paper proposes a novel active Simultaneous Localization and Mapping...
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10/12/2021
Distributed Gaussian Process Mapping for Robot Teams with Time-varying Communication
Multi-agent mapping is a fundamentally important capability for autonomo...
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09/21/2021
Learning Adaptive Control for SE(3) Hamiltonian Dynamics
Fast adaptive control is a critical component for reliable robot autonom...
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08/01/2021
ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Description
Autonomous systems need to understand the semantics and geometry of thei...
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07/23/2021
A Deep Signed Directional Distance Function for Object Shape Representation
Neural networks that map 3D coordinates to signed distance function (SDF...
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06/24/2021
Hamiltonian-based Neural ODE Networks on the SE(3) Manifold For Dynamics Learning and Control
Accurate models of robot dynamics are critical for safe and stable contr...
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03/30/2021
Dense Incremental Metric-Semantic Mapping for Multi-Agent Systems via Sparse Gaussian Process Regression
We develop an online probabilistic metric-semantic mapping approach for ...
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03/11/2021
CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration
This paper considers online object-level mapping using partial point-clo...
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03/10/2021
Inverse Reinforcement Learning of Autonomous Behaviors Encoded as Weighted Finite Automata
This paper presents a method for learning logical task specifications an...
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03/10/2021
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories
This paper develops iterative Covariance Regulation (iCR), a novel metho...
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03/08/2021
Fully Convolutional Geometric Features for Category-level Object Alignment
This paper focuses on pose registration of different object instances fr...
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03/08/2021
Localization and Mapping using Instance-specific Mesh Models
This paper focuses on building semantic maps, containing object poses an...
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01/26/2021
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams
This paper considers the problem of planning trajectories for a team of ...
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01/07/2021
Coding for Distributed Multi-Agent Reinforcement Learning
This paper aims to mitigate straggler effects in synchronous distributed...
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01/06/2021
Mesh Reconstruction from Aerial Images for Outdoor Terrain Mapping Using Joint 2D-3D Learning
This paper addresses outdoor terrain mapping using overhead images obtai...
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01/06/2021
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observation
Many robot applications call for autonomous exploration and mapping of u...
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01/01/2021
Inverse reinforcement learning for autonomous navigation via differentiable semantic mapping and planning
This paper focuses on inverse reinforcement learning for autonomous navi...
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12/29/2020
Control Barriers in Bayesian Learning of System Dynamics
This paper focuses on learning a model of system dynamics online while s...
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11/03/2020
Learning Barrier Functions with Memory for Robust Safe Navigation
Control barrier functions are widely used to enforce safety properties i...
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09/15/2020
Autonomous Navigation in Unknown Environments with Sparse Bayesian Kernel-based Occupancy Mapping
This paper focuses on online occupancy mapping and real-time collision c...
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07/29/2020
OrcVIO: Object residual constrained Visual-Inertial Odometry
Introducing object-level semantic information into simultaneous localiza...
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06/09/2020
Learning Navigation Costs from Demonstration with Semantic Observations
This paper focuses on inverse reinforcement learning (IRL) for autonomou...
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05/14/2020
Safe Robot Navigation in Cluttered Environments using Invariant Ellipsoids and a Reference Governor
This paper considers the problem of safe autonomous navigation in unknow...
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02/26/2020
Learning Navigation Costs from Demonstration in Partially Observable Environments
This paper focuses on inverse reinforcement learning (IRL) to enable saf...
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02/05/2020
Fast and Safe Path-Following Control using a State-Dependent Directional Metric
This paper considers the problem of fast and safe autonomous navigation ...
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02/05/2020
Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
This paper focuses on real-time occupancy mapping and collision checking...
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12/20/2019
Probabilistic Safety Constraints for Learned High Relative Degree System Dynamics
This paper focuses on learning a model of system dynamics online while s...
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10/23/2019