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Egocentric affordance detection with the one-shot geometry-driven Interaction TensorJun 13 2019In this abstract we describe recent [4,7] and latest work on the determination of affordances in visually perceived 3D scenes. Our method builds on the hypothesis that geometry on its own provides enough information to enable the detection of significant ... More
Efficient Exploration via State Marginal MatchingJun 12 2019To solve tasks with sparse rewards, reinforcement learning algorithms must be equipped with suitable exploration techniques. However, it is unclear what underlying objective is being optimized by existing exploration algorithms, or how they can be altered ... More
Search on the Replay Buffer: Bridging Planning and Reinforcement LearningJun 12 2019The history of learning for control has been an exciting back and forth between two broad classes of algorithms: planning and reinforcement learning. Planning algorithms effectively reason over long horizons, but assume access to a local policy and distance ... More
Kinematics of Spherical Robots Rolling Over 3D TerrainsJun 12 2019Although the kinematics and dynamics of spherical robots (SRs) on flat horizontal and inclined 2D surfaces are thoroughly investigated, their rolling behavior on generic 3D terrains has remained unexplored. This paper derives the kinematics equations ... More
Active Learning of Dynamics for Data-Driven Control Using Koopman OperatorsJun 12 2019This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by taking advantage of the Koopman operator representation. We first motivate ... More
A Survey of Autonomous Driving: Common Practices and Emerging TechnologiesJun 12 2019Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise. The full potential of ADSs cannot be realized unless the robustness of state-of-the-art ... More
Co-modelling of Agricultural Robotic SystemsJun 12 2019Automated and robotic ground-vehicle solutions are gradually becoming part of the agricultural industry, where they are used for performing tasks such as feeding, herding, planting, harvesting, and weed spraying. Agricultural machinery operates in both ... More
Identification of Motor Parameters on Coupled JointsJun 12 2019The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling matrix, such ... More
Deep Reinforcement Learning for Unmanned Aerial Vehicle-Assisted Vehicular NetworksJun 12 2019Unmanned aerial vehicles (UAVs) are envisioned to complement the 5G communication infrastructure in future smart cities. Hot spots easily appear in road intersections, where effective communication among vehicles is challenging. UAVs may serve as relays ... More
Transferrable Operative Difficulty Assessment in Robot-assisted Teleoperation: A Domain Adaptation ApproachJun 12 2019Providing an accurate and efficient assessment of operative difficulty is important for designing robot-assisted teleoperation interfaces that are easy and natural for human operators to use. In this paper, we aim to develop a data-driven approach to ... More
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception CuesJun 12 2019Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating manipulation ... More
Snake-Like Robots for Minimally Invasive, Single Port, and Intraluminal SurgeriesJun 11 2019The surgical paradigm of Minimally Invasive Surgery (MIS) has been a key driver to the adoption of robotic surgical assistance. Progress in the last three decades has led to a gradual transition from manual laparoscopic surgery with rigid instruments ... More
Enhancing the Vertical Mobility of a Robot Hexapod Using MicrospinesJun 11 2019Modern climbing robots have risen to great heights, but mechanisms meant to scale cliffs often locomote slowly and over-cautiously on level ground. Here we introduce T-RHex, an iteration on the classic cockroach-inspired hexapod that has been augmented ... More
Towards Resilient UAV: Escape Time in GPS Denied Environment with Sensor DriftJun 11 2019This paper considers a resilient state estimation framework for unmanned aerial vehicles (UAVs) that integrates a Kalman filter-like state estimator and an attack detector. When an attack is detected, the state estimator uses only IMU signals as the GPS ... More
Hybrid Nonlinear Observers for Inertial Navigation Using Landmark MeasurementsJun 11 2019This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global exponential stability. ... More
Automatic Multi-Sensor Extrinsic Calibration for Mobile RobotsJun 11 2019In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full 6DoF extrinsic ... More
Design and integration of a parallel, soft robotic end-effector for extracorporeal ultrasoundJun 11 2019In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating the first soft robotic system for ultrasound imaging. It makes use of the inherent qualities of soft robotics technologies to establish a safe, adaptable ... More
Continual Reinforcement Learning deployed in Real-life using Policy Distillation and Sim2Real TransferJun 11 2019We focus on the problem of teaching a robot to solve tasks presented sequentially, i.e., in a continual learning scenario. The robot should be able to solve all tasks it has encountered, without forgetting past tasks. We provide preliminary work on applying ... More
Gait modeling and optimization for the perturbed Stokes regimeJun 11 2019Many forms of locomotion, both natural and artificial, are dominated by viscous friction in the sense that without power expenditure they quickly come to a standstill. From geometric mechanics, it is known that for swimming at the "Stokesian" (viscous; ... More
Online Object Representations with Contrastive LearningJun 10 2019We propose a self-supervised approach for learning representations of objects from monocular videos and demonstrate it is particularly useful in situated settings such as robotics. The main contributions of this paper are: 1) a self-supervising objective ... More
Bilevel Optimization for Planning through Contact: A Semidirect MethodJun 10 2019Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been shown to be a viable approach that can be made to support contact dynamics. ... More
Self-Supervised Exploration via DisagreementJun 10 2019Efficient exploration is a long-standing problem in sensorimotor learning. Major advances have been demonstrated in noise-free, non-stochastic domains such as video games and simulation. However, most of these formulations either get stuck in environments ... More
Peristaltic locomotion without digital controllers: Exploiting the origami multi-stability to coordinate robotic motionsJun 10 2019This study proposes and examines a novel approach to generate peristaltic-like locomotion in a segmented origami robot. Specifically, we demonstrate the use of multi-stability embedded in origami skeleton to eliminate the need for multiple actuators or ... More
Enabling Robust State Estimation through Measurement Error Covariance AdaptationJun 10 2019Accurate platform localization is an integral component of most robotic systems. As these robotic systems become more ubiquitous, it is necessary to develop robust state estimation algorithms that are able to withstand novel and non-cooperative environments. ... More
Rethinking Trajectory Evaluation for SLAM: a Probabilistic, Continuous-Time ApproachJun 10 2019Despite the existence of different error metrics for trajectory evaluation in SLAM, their theoretical justifications and connections are rarely studied, and few methods handle temporal association properly. In this work, we propose to formulate the trajectory ... More
Autonomous Goal Exploration using Learned Goal Spaces for Visuomotor Skill Acquisition in RobotsJun 10 2019The automatic and efficient discovery of skills, without supervision, for long-living autonomous agents, remains a challenge of Artificial Intelligence. Intrinsically Motivated Goal Exploration Processes give learning agents a human-inspired mechanism ... More
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic InteractionsJun 10 2019We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be inferred from the ... More
DensePhysNet: Learning Dense Physical Object Representations via Multi-step Dynamic InteractionsJun 10 2019Jun 11 2019We study the problem of learning physical object representations for robot manipulation. Understanding object physics is critical for successful object manipulation, but also challenging because physical object properties can rarely be inferred from the ... More
Data Efficient and Safe Learning for Locomotion via Simplified ModelJun 10 2019In this letter, we formulate a novel Markov Decision Process (MDP) for data efficient and safe learning for locomotion via a simplified model. In our previous studies on biped locomotion, we relied on a low-dimensional robot model, e.g., the Linear Inverted ... More
Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled ActuatorsJun 10 2019This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design embodying a ... More
Composition of Safety Constraints With Applications to Decentralized Fixed-Wing Collision AvoidanceJun 10 2019In this paper we discuss how to construct a barrier certificate for a control affine system subject to actuator constraints and motivate this discussion by examining collision avoidance for fixed-wing unmanned aerial vehicles (UAVs). In particular, the ... More
Curiosity-Driven Multi-Criteria Hindsight Experience ReplayJun 09 2019Dealing with sparse rewards is a longstanding challenge in reinforcement learning. The recent use of hindsight methods have achieved success on a variety of sparse-reward tasks, but they fail on complex tasks such as stacking multiple blocks with a robot ... More
Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient LearningJun 09 2019Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an interactable problem. ... More
Movable-Object-Aware Visual SLAM via Weakly Supervised Semantic SegmentationJun 09 2019Moving objects can greatly jeopardize the performance of a visual simultaneous localization and mapping (vSLAM) system which relies on the static-world assumption. Motion removal have seen successful on solving this problem. Two main streams of solutions ... More
A Hierarchical Network for Diverse Trajectory ProposalsJun 09 2019Autonomous explorative robots frequently encounter scenarios where multiple future trajectories can be pursued. Often these are cases with multiple paths around an obstacle or trajectory options towards various frontiers. Humans in such situations can ... More
Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model CalibrationJun 09 2019Recently, a new concept for continuum robots capable of producing macro-scale and micro-scale motion has been presented. These robots achieve their multi-scale motion capabilities by coupling direct-actuation of push-pull back-bones for macro motion with ... More
Planning With Uncertain Specifications (PUnS)Jun 07 2019Reward engineering is crucial to high performance in reinforcement learning systems. Prior research into reward design has largely focused on Markovian functions representing the reward. While there has been research into expressing non-Markovian rewards ... More
Active inference body perception and action for humanoid robotsJun 07 2019One of the biggest challenges in robotics systems is interacting under uncertainty. Unlike robots, humans learn, adapt and perceive their body as a unity when interacting with the world. We hypothesize that the nervous system counteracts sensor and motor ... More
Object-Agnostic Suction Grasp Affordance Detection in Dense Cluster Using Self-Supervised Learning.docxJun 07 2019In this paper we study grasp problem in dense cluster, a challenging task in warehouse logistics scenario. By introducing a two-step robust suction affordance detection method, we focus on using vacuum suction pad to clear up a box filled with seen and ... More
Key Ingredients of Self-Driving CarsJun 07 2019Over the past decade, many research articles have been published in the area of autonomous driving. However, most of them focus only on a specific technological area, such as visual environment perception, vehicle control, etc. Furthermore, due to fast ... More
EVDodge: Embodied AI For High-Speed Dodging On A Quadrotor Using Event CamerasJun 07 2019The human fascination to understand ultra-efficient agile flying beings like birds and bees have propelled decades of research on trying to solve the problem of obstacle avoidance on micro aerial robots. However, most of the prior research has focused ... More
Intention-aware Long Horizon Trajectory Prediction of Surrounding Vehicles using Dual LSTM NetworksJun 06 2019As autonomous vehicles (AVs) need to interact with other road users, it is of importance to comprehensively understand the dynamic traffic environment, especially the future possible trajectories of surrounding vehicles. This paper presents an algorithm ... More
Combining Parameter Identification and Trajectory Optimization: Real-time Planning for Information GainJun 06 2019Robotic systems often operate with uncertainties in their dynamics, for example, unknown inertial properties. Broadly, there are two approaches for controlling uncertain systems: design robust controllers in spite of uncertainty, or characterize a system ... More
Visual-Inertial Navigation: A Concise ReviewJun 06 2019As inertial and visual sensors are becoming ubiquitous, visual-inertial navigation systems (VINS) have prevailed in a wide range of applications from mobile augmented reality to aerial navigation to autonomous driving, in part because of the complementary ... More
An Extensible Interactive Interface for Agent DesignJun 06 2019In artificial intelligence, we often specify tasks through a reward function. While this works well in some settings, many tasks are hard to specify this way. In deep reinforcement learning, for example, directly specifying a reward as a function of a ... More
An Extensible Interactive Interface for Agent DesignJun 06 2019Jun 10 2019In artificial intelligence, we often specify tasks through a reward function. While this works well in some settings, many tasks are hard to specify this way. In deep reinforcement learning, for example, directly specifying a reward as a function of a ... More
Anytime Lane-Level Intersection Estimation Based on TrajectoriesJun 06 2019Estimating and understanding the current scene is an inevitable capability of automated vehicles. Usually, maps are used as prior for interpreting sensor measurements in order to drive safely. Only few approaches take into account that maps might be outdated ... More
Towards navigation without precise localization: Weakly supervised learning of goal-directed navigation cost mapJun 06 2019Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it makes the current ... More
Kinematic & Dynamic Analysis of the Human Upper Limb Using the Theory of ScrewsJun 06 2019Screw theory provides geometrical insight into the mechanics of rigid bodies. Screw axis is defined as the line coinciding with the joint axis. Line transformations in the form of a screw operator are used to determine the joint axes of a seven degree ... More
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic PlateJun 05 2019A robot-assisted feeding system must successfully acquire many different food items and transfer them to a user. A key challenge is the wide variation in the physical properties of food, demanding diverse acquisition strategies that are also capable of ... More
Highly Parallelized Data-driven MPC for Minimal Intervention Shared ControlJun 05 2019We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous partner is to ... More
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot ControllersJun 05 2019The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution ... More
Continuous Control for Automated Lane Change Behavior Based on Deep Deterministic Policy Gradient AlgorithmJun 05 2019Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to discrete action ... More
General Purpose Incremental Covariance Update and Efficient Belief Space Planning via Factor-Graph Propagation Action TreeJun 05 2019Fast covariance calculation is required both for SLAM (e.g.~in order to solve data association) and for evaluating the information-theoretic term for different candidate actions in belief space planning (BSP). In this paper we make two primary contributions. ... More
Combining Physics-Based Domain Knowledge and Machine Learning using Variational Gaussian Processes with Explicit Linear PriorJun 05 2019Centuries of development in natural sciences and mathematical modeling provide valuable domain expert knowledge that has yet to be explored for the development of machine learning models. When modeling complex physical systems, both domain knowledge and ... More
A Model-Based Balance Stabilization System for Biped RobotJun 05 2019This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a Linear Inverted ... More
Machine Learning and System Identification for Estimation in Physical SystemsJun 05 2019In this thesis, we draw inspiration from both classical system identification and modern machine learning in order to solve estimation problems for real-world, physical systems. The main approach to estimation and learning adopted is optimization based. ... More
Maximizing Energy Battery Efficiency in Swarm RoboticsJun 05 2019Miniaturization and cost, two of the main attractive factors of swarm robotics, have motivated its use as a solution in object collecting tasks, search & rescue missions, and other applications. However, in the current literature only a few papers consider ... More
Comparison Study of Well-Known Inverted Pendulum Models for Balance Recovery in Humanoid RobotJun 05 2019Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the robotic community. ... More
A Robust Roll Angle Estimation Algorithm Based on Gradient DescentJun 05 2019This paper presents a robust roll angle estimation algorithm, which is developed from our previously published work, where the roll angle was estimated from a dense disparity map by minimizing a global energy using golden section search algorithm. In ... More
A Survey of Behavior Learning Applications in Robotics -- State of the Art and PerspectivesJun 05 2019Recent success of machine learning in many domains has been overwhelming, which often leads to false expectations regarding the capabilities of behavior learning in robotics. In this survey, we analyze the current state of machine learning for robotic ... More
BayesSim: adaptive domain randomization via probabilistic inference for robotics simulatorsJun 04 2019We introduce BayesSim, a framework for robotics simulations allowing a full Bayesian treatment for the parameters of the simulator. As simulators become more sophisticated and able to represent the dynamics more accurately, fundamental problems in robotics ... More
Off-Policy Evaluation via Off-Policy ClassificationJun 04 2019In this work, we consider the problem of model selection for deep reinforcement learning (RL) in real-world environments. Typically, the performance of deep RL algorithms is evaluated via on-policy interactions with the target environment. However, comparing ... More
GAMMA: A General Agent Motion Prediction Model for Autonomous DrivingJun 04 2019Autonomous driving in mixed traffic requires reliable motion prediction of nearby traffic agents such as pedestrians, bicycles, cars, buses, etc.. This prediction problem is extremely challenging because of the diverse dynamics and geometry of traffic ... More
Closed-Loop Control of a Delta-Wing Unmanned Aerial-Aquatic VehicleJun 04 2019We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop feedback policy ... More
Unsupervised Emergence of Egocentric Spatial Structure from Sensorimotor PredictionJun 04 2019Despite its omnipresence in robotics application, the nature of spatial knowledge and the mechanisms that underlie its emergence in autonomous agents are still poorly understood. Recent theoretical works suggest that the Euclidean structure of space induces ... More
Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential SimplificationsJun 04 2019Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications. To exploit sequential simplifications, we present the Quotient-space ... More
Vision-Based Autonomous UAV Navigation and Landing for Urban Search and RescueJun 04 2019Unmanned Aerial Vehicles (UAVs) equipped with bioradars are a life-saving technology that can enable identification of survivors under collapsed buildings in the aftermath of natural disasters such as earthquakes or gas explosions. However, these UAVs ... More
Grid-based Localization Stack for Inspection Drones towards Automation of Large Scale Warehouse SystemsJun 04 2019SLAM based techniques are often adopted for solving the navigation problem for the drones in GPS denied environment. Despite the widespread success of these approaches, they have not yet been fully exploited for automation in a warehouse system due to ... More
Knowledge is Never Enough: Towards Web Aided Deep Open World RecognitionJun 04 2019While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will always have ... More
Learning Object Bounding Boxes for 3D Instance Segmentation on Point CloudsJun 04 2019We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly regresses ... More
Socially Inspired Communication in Swarm RoboticsJun 03 2019Localized communication in swarms has been shown to increase swarm effectiveness in some situations by allowing for additional opportunities for cooperation. However, communication and utilization of potentially outdated information is also a concern. ... More
Localization Requirements for Autonomous VehiclesJun 03 2019Autonomous vehicles require precise knowledge of their position and orientation in all weather and traffic conditions for path planning, perception, control, and general safe operation. Here we derive these requirements for autonomous vehicles based on ... More
Robust stability of moving horizon estimation for nonlinear systems with bounded disturbances using adaptive arrival costJun 03 2019In this paper, the robust stability and convergence to the true state of moving horizon estimator based on an adaptive arrival cost are established for nonlinear detectable systems. Robust global asymptotic stability is shown for the case of non-vanishing ... More
eSLAM: An Energy-Efficient Accelerator for Real-Time ORB-SLAM on FPGA PlatformJun 03 2019Simultaneous Localization and Mapping (SLAM) is a critical task for autonomous navigation. However, due to the computational complexity of SLAM algorithms, it is very difficult to achieve real-time implementation on low-power platforms.We propose an energy ... More
Self-supervised Body Image Acquisition Using a Deep Neural Network for Sensorimotor PredictionJun 03 2019This work investigates how a naive agent can acquire its own body image in a self-supervised way, based on the predictability of its sensorimotor experience. Our working hypothesis is that, due to its temporal stability, an agent's body produces more ... More
Effects of Different Hand-Grounding Locations on Haptic Performance With a Wearable Kinesthetic Haptic DeviceJun 02 2019Grounding of kinesthetic feedback against a user's hand can increase the portability and wearability of a haptic device. However, the effects of different hand-grounding locations on haptic perception of a user are unknown. In this letter, we investigate ... More
Learning Domain Randomization Distributions for Transfer of Locomotion PoliciesJun 02 2019Domain randomization (DR) is a successful technique for learning robust policies for robot systems, when the dynamics of the target robot system are unknown. The success of policies trained with domain randomization however, is highly dependent on the ... More
Harnessing Reinforcement Learning for Neural Motion PlanningJun 01 2019Motion planning is an essential component in most of today's robotic applications. In this work, we consider the learning setting, where a set of solved motion planning problems is used to improve the efficiency of motion planning on different, yet similar ... More
Analysis of Obstacle based Probabilistic RoadMap Method using Geometric ProbabilityJun 01 2019Sampling based planners have been successful in robot motion planning, with many degrees of freedom, but still remain ineffective in the presence of narrow passages within the configuration space. There exist several heuristics, which generate samples ... More
2.5D Image based Robotic GraspingMay 31 2019We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and RGB image at ... More
Graduated Fidelity Lattices for Motion Planning under UncertaintyMay 31 2019We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the fidelity adapts ... More
Taming Combinatorial Challenges in Optimal Clutter Removal TasksMay 31 2019We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object is grasped once ... More
Inverting Learned Dynamics Models for Aggressive Multirotor ControlMay 31 2019We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the presence of exogenous ... More
Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a MultirotorMay 31 2019We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by integrating recent ... More
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from DemonstrationsMay 31 2019Jun 03 2019Reinforcement learning (RL) for robotics is challenging due to the difficulty in hand-engineering a dense cost function, which can lead to unintended behavior, and dynamical uncertainty, which makes it hard to enforce constraints during learning. We address ... More
Grounding Language Attributes to Objects using Bayesian EigenobjectsMay 30 2019We develop a system to disambiguate objects based on simple physical descriptions. The system takes as input a natural language phrase and a depth image containing a segmented object and predicts how similar the observed object is to the described object. ... More
Partial Computing Offloading Assisted Cloud Point Registration in Multi-robot SLAMMay 30 2019Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown scene in order ... More
Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics FrameworkMay 30 2019Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with ... More
A Realtime Autonomous Robot Navigation Framework for Human like High-level Interaction and Task Planning in Global Dynamic EnvironmentMay 30 2019In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not known a priori. ... More
Assistive robot operated via P300-based Brain Computer InterfaceMay 30 2019In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight ... More
Bayesian Grasp: Robotic visual stable grasp based on prior tactile knowledgeMay 30 2019Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on regrasping, which ... More
Imitation Learning as $f$-Divergence MinimizationMay 30 2019We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such as GAIL and ... More
Does computer vision matter for action?May 30 2019Computer vision produces representations of scene content. Much computer vision research is predicated on the assumption that these intermediate representations are useful for action. Recent work at the intersection of machine learning and robotics calls ... More
Fast Reciprocal Collision Avoidance Under Measurement UncertaintyMay 30 2019May 31 2019We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors with no inter-agent ... More
Recent Advances in Imitation Learning from ObservationMay 30 2019Imitation learning is the process by which one agent tries to learn how to perform a certain task using information generated by another, often more-expert agent performing that same task. Conventionally, the imitator has access to both state and action ... More
RoNIN: Robust Neural Inertial Navigation in the Wild: Benchmark, Evaluations, and New MethodsMay 30 2019This paper sets a new foundation for data-driven inertial navigation research, where the task is the estimation of positions and orientations of a moving subject from a sequence of IMU sensor measurements. More concretely, the paper presents 1) a new ... More
Multitasking collision-free motion planning algorithms in Euclidean spacesMay 30 2019We present optimal motion planning algorithms which can be used in designing practical systems controlling objects moving in Euclidean space without collisions. Our algorithms are motivated by those presented by Mas-Ku and Torres-Giese (as streamlined ... More
Learning Navigation Subroutines by Watching VideosMay 29 2019Hierarchies are an effective way to boost sample efficiency in reinforcement learning, and computational efficiency in classical planning. However, acquiring hierarchies via hand-design (as in classical planning) is suboptimal, while acquiring them via ... More
ORangE: Operational Range Estimation for Mobile Robot Exploration on a Single Discharge CycleMay 29 2019This paper presents an approach for estimating the operational range for mobile robot exploration on a single battery discharge. Deploying robots in the wild usually requires uninterrupted energy sources to maintain the robot's mobility throughout the ... More