6 accepted papers
For continuous systems modeled by dynamical equations such as ODEs and SDEs, Bellman's principle of optimality takes the form of the Hamilton-Jacobi-Bellman (HJB) equation, which provides the theoretical target of reinforcement learning (RL). Although recent advances in RL successfully leverage this…
Three-dimensional (3D) human pose estimation is one of the most basic tasks for human-interacting robots. Especially in weightless environments such as the International Space Station (ISS), wherein objects may move with a higher degree of freedom compared to on the ground, a camera with a wider fie…
Several methods of semantic segmentation using light detection and ranging (LiDAR) sensors have been proposed for the recognition of surrounding objects by autonomous driving cars. LiDAR is a sensor that compensates for the weaknesses of other sensors, such as cameras or radar systems, and semantic…
Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to quantitatively evaluate the robustness of existing VIO methods.
Spectral decomposition of the Koopman operator is attracting attention as a tool for the analysis of nonlinear dynamical systems. Dynamic mode decomposition is a popular numerical algorithm for Koopman spectral analysis; however, we often need to prepare nonlinear observables manually according to t…
In an asteroid exploration and sample return mission, accurate estimation of the shape and motion of the target asteroid is essential for selecting a touchdown site and navigating a spacecraft during touchdown operation. In this work, we present an automatic estimation method for the shape and motio…