7 accepted papers
In this work, we conducted research on deformable object manipulation by robots based on demonstration-enhanced reinforcement learning (RL). We present FADERL (FuzzyAugmented Demonstration-Embedded Reinforcement Learning),a novel framework for robotic manipulation of deformable objects that signific…
A key open challenge in off-road autonomy is that the traversability of terrain often depends on the vehicle's state. In particular, some obstacles are only traversable from some orientations. However, learning this interaction by encoding the angle of approach as a model input demands a large and d…
SLAM is an important capability for many autonomous systems, and modern LiDAR-based methods offer promising performance. However, for long duration missions, existing works that either take directly the full pointclouds or extracted features face key tradeoffs in accuracy and computational efficienc
While grasp detection is an important part of any robotic manipulation pipeline, reliable and accurate grasp detection in $\\mathrm{SE}(3)$ remains a research challenge. Many robotics applications in unstructured environments such as the home or warehouse would benefit a lot from better grasp perfor…
RGB-D semantic segmentation is attracting wide attention due to its better performance than conventional RGB methods. However, most of RGB-D semantic segmentation methods need to acquire the real depth information for segmenting RGB images effectively. Therefore, it is extremely challenging to take…
Label noise in real-world datasets encodes wrong correlation patterns and impairs the generalization of deep neural networks (DNNs). It is critical to find efficient ways to detect corrupted patterns. Current methods primarily focus on designing robust training techniques to prevent DNNs from memori…
Fish can perceive the surrounding flow field using their lateral line systems, consisting of canal neuromasts (CNs) for flow pressure gradient perception and superficial neuromasts (SNs) for flow velocity detection. Although various artificial lateral line (ALL) systems have been developed inspired