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06/06/2023
GMMap: Memory-Efficient Continuous Occupancy Map Using Gaussian Mixture Model
Energy consumption of memory accesses dominates the compute energy in en...
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05/25/2023
Learning When to Ask for Help: Transferring Human Knowledge through Part-Time Demonstration
Robots operating alongside humans often encounter unfamiliar environment...
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05/24/2023
Multi-Abstractive Neural Controller: An Efficient Hierarchical Control Architecture for Interactive Driving
As learning-based methods make their way from perception systems to plan...
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04/23/2023
Studying the Impact of Semi-Cooperative Drivers on Overall Highway Flow
Semi-cooperative behaviors are intrinsic properties of human drivers and...
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03/21/2023
Infrastructure-based End-to-End Learning and Prevention of Driver Failure
Intelligent intersection managers can improve safety by detecting danger...
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02/01/2023
Agility and Target Distribution in the Dynamic Stochastic Traveling Salesman Problem
An important variant of the classic Traveling Salesman Problem (TSP) is ...
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12/14/2022
Learning and Predicting Multimodal Vehicle Action Distributions in a Unified Probabilistic Model Without Labels
We present a unified probabilistic model that learns a representative se...
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12/06/2022
WiSwarm: Age-of-Information-based Wireless Networking for Collaborative Teams of UAVs
The Age-of-Information (AoI) metric has been widely studied in the theor...
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10/07/2022
Efficient Computation of Map-scale Continuous Mutual Information on Chip in Real Time
Exploration tasks are essential to many emerging robotics applications, ...
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07/26/2022
Global Incremental Flight Control for Agile Maneuvering of a Tailsitter Flying Wing
This paper proposes a novel control law for accurate tracking of agile t...
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07/07/2022
Aerobatic Trajectory Generation for a VTOL Fixed-Wing Aircraft Using Differential Flatness
This paper proposes a novel algorithm for aerobatic trajectory generatio...
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06/01/2022
Cooperative Multi-Agent Trajectory Generation with Modular Bayesian Optimization
We present a modular Bayesian optimization framework that efficiently ge...
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05/18/2022
Neighborhood Mixup Experience Replay: Local Convex Interpolation for Improved Sample Efficiency in Continuous Control Tasks
Experience replay plays a crucial role in improving the sample efficienc...
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02/21/2022
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
When is heterogeneity in the composition of an autonomous robotic team b...
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11/23/2021
Learning Interactive Driving Policies via Data-driven Simulation
Data-driven simulators promise high data-efficiency for driving policy l...
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11/23/2021
VISTA 2.0: An Open, Data-driven Simulator for Multimodal Sensing and Policy Learning for Autonomous Vehicles
Simulation has the potential to transform the development of robust algo...
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09/01/2021
Searching for Efficient Multi-Stage Vision Transformers
Vision Transformer (ViT) demonstrates that Transformer for natural langu...
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05/20/2021
Efficient and Robust LiDAR-Based End-to-End Navigation
Deep learning has been used to demonstrate end-to-end neural network lea...
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02/19/2021
Deep Latent Competition: Learning to Race Using Visual Control Policies in Latent Space
Learning competitive behaviors in multi-agent settings such as racing re...
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02/18/2021
Recovering orthogonal tensors under arbitrarily strong, but locally correlated, noise
We consider the problem of recovering an orthogonally decomposable tenso...
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10/27/2020
Learning to Plan Optimistically: Uncertainty-Guided Deep Exploration via Latent Model Ensembles
Learning complex behaviors through interaction requires coordinated long...
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06/03/2020
Multi-Fidelity Black-Box Optimization for Time-Optimal Quadrotor Maneuvers
We consider the problem of generating a time-optimal quadrotor trajector...
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05/28/2020
Perception-aware time optimal path parameterization for quadrotors
The increasing popularity of quadrotors has given rise to a class of pre...
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12/14/2019
Deep Context Map: Agent Trajectory Prediction using Location-specific Latent Maps
In this paper, we propose a novel approach for agent motion prediction i...
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09/24/2019
A Theory of Uncertainty Variables for State Estimation and Inference
Probability theory forms an overarching framework for modeling uncertain...
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09/16/2019
Stochastic Dynamic Games in Belief Space
Information gathering while interacting with other agents is critical in...
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08/29/2019
Multi-resolution Low-rank Tensor Formats
We describe a simple, black-box compression format for tensors with a mu...
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06/14/2019
Optimal orthogonal approximations to symmetric tensors cannot always be chosen symmetric
We study the problem of finding orthogonal low-rank approximations of sy...
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05/27/2019
FlightGoggles: Photorealistic Sensor Simulation for Perception-driven Robotics using Photogrammetry and Virtual Reality
FlightGoggles is a photorealistic sensor simulator for perception-driven...
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05/06/2019
FSMI: Fast computation of Shannon Mutual Information for information-theoretic mapping
Exploration tasks are embedded in many robotics applications, such as se...
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04/10/2019
Asymptotic Optimality of a Time Optimal Path Parametrization Algorithm
Time Optimal Path Parametrization is the problem of minimizing the time ...
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03/08/2019
FastDepth: Fast Monocular Depth Estimation on Embedded Systems
Depth sensing is a critical function for robotic tasks such as localizat...
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11/25/2018
Variational End-to-End Navigation and Localization
Deep learning has revolutionized the ability to learn "end-to-end" auton...
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10/10/2018
Can Determinacy Minimize Age of Information?
Age-of-information (AoI) is a newly proposed destination-centric perform...
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10/03/2018
The Blackbird Dataset: A large-scale dataset for UAV perception in aggressive flight
The Blackbird unmanned aerial vehicle (UAV) dataset is a large-scale, ag...
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09/15/2018
Navion: A 2mW Fully Integrated Real-Time Visual-Inertial Odometry Accelerator for Autonomous Navigation of Nano Drones
This paper presents Navion, an energy-efficient accelerator for visual-i...
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09/11/2018
Accurate Tracking of Aggressive Quadrotor Trajectories using Incremental Nonlinear Dynamic Inversion and Differential Flatness
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (...
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08/01/2018
Perception-driven sparse graphs for optimal motion planning
Most existing motion planning algorithms assume that a map (of some qual...
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07/01/2018
Self-supervised Sparse-to-Dense: Self-supervised Depth Completion from LiDAR and Monocular Camera
Depth completion, the technique of estimating a dense depth image from s...
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05/15/2018
Scheduling Policies for Age Minimization in Wireless Networks with Unknown Channel State
Age of information (AoI) is a recently proposed metric that measures the...
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05/13/2018
Spatial Uncertainty Sampling for End-to-End Control
End-to-end trained neural networks (NNs) are a compelling approach to au...
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03/17/2018
Optimizing Age of Information in Wireless Networks with Perfect Channel State Information
Age of information (AoI), defined as the time elapsed since the last rec...
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03/17/2018
Distributed Scheduling Algorithms for Optimizing Information Freshness in Wireless Networks
Age of Information (AoI), measures the time elapsed since the last recei...
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03/17/2018
Optimizing Information Freshness in Wireless Networks under General Interference Constraints
Age of information (AoI) is a recently proposed metric for measuring inf...
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09/21/2017
Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image
We consider the problem of dense depth prediction from a sparse set of d...
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03/04/2017
Sparse Depth Sensing for Resource-Constrained Robots
We consider the case in which a robot has to navigate in an unknown envi...
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07/26/2016