233 citations · 2.4k across the 215 of their papers we have counts for
17 papers · 2 filters
Reinforcement Learning-based Visual Navigation with Information-Theoretic Regularization
Qiaoyun Wu, Kai Xu, Jun Wang +3
To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regul…
Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs
Rohan Chandra, Tianrui Guan, Srujan Panuganti +4
We present a novel approach for traffic forecasting in urban traffic scenarios using a combination of spectral graph analysis and deep learning. We predict both the low-level infor…
Learning Resilient Behaviors for Navigation Under Uncertainty
Tingxiang Fan, Pinxin Long, Wenxi Liu +3
Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not…
GraphRQI: Classifying Driver Behaviors Using Graph Spectrums
Rohan Chandra, Uttaran Bhattacharya, Trisha Mittal +3
We present a novel algorithm (GraphRQI) to identify driver behaviors from road-agent trajectories. Our approach assumes that the road-agents exhibit a range of driving traits, such…
New Formulation of Mixed-Integer Conic Programming for Globally Optimal Grasp Planning
Min Liu, Zherong Pan, Kai Xu +1
We present a two-level branch-and-bound (BB) algorithm to compute the optimal gripper pose that maximizes a grasp metric in a restricted search space. Our method can take the gripp…
DCAD: Decentralized Collision Avoidance with Dynamics Constraints for Agile Quadrotor Swarms
Senthil Hariharan Arul, Dinesh Manocha
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorith…
AFR: An Efficient Buffering Algorithm for Cloud Robotic Systems
Yu-Ping Wang, Hao-Ning Wang, Zi-Xin Zou +1
Communication between robots and the server is a major problem for cloud robotic systems. In this paper, we address the problem caused by data loss during such communications, and…
DensePeds: Pedestrian Tracking in Dense Crowds Using Front-RVO and Sparse Features
Rohan Chandra, Uttaran Bhattacharya, Aniket Bera +1
We present a pedestrian tracking algorithm, DensePeds, that tracks individuals in highly dense crowds (greater than 2 pedestrians per square meter). Our approach is designed for vi…
RobustTP: End-to-End Trajectory Prediction for Heterogeneous Road-Agents in Dense Traffic with Noisy Sensor Inputs
Rohan Chandra, Uttaran Bhattacharya, Christian Roncal +2
We present RobustTP, an end-to-end algorithm for predicting future trajectories of road-agents in dense traffic with noisy sensor input trajectories obtained from RGB cameras (eith…
Generating Optimal Grasps Under A Stress-Minimizing Metric
Zherong Pan, Xifeng Gao, Dinesh Manocha
We present stress-minimizing (SM) metric, a new metric of grasp qualities. Unlike previous metrics that ignore the material of target objects, we assume that target objects are mad…
RoadTrack: Realtime Tracking of Road Agents in Dense and Heterogeneous Environments
Rohan Chandra, Uttaran Bhattacharya, Tanmay Randhavane +2
We present a realtime tracking algorithm, RoadTrack, to track heterogeneous road-agents in dense traffic videos. Our approach is designed for traffic scenarios that consist of diff…
NeoNav: Improving the Generalization of Visual Navigation via Generating Next Expected Observations
Qiaoyun Wu, Dinesh Manocha, Jun Wang +1
We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to…
Globally Optimal Joint Search of Topology and Trajectory for Planar Linkages
Zherong Pan, Min Liu, Xifeng Gao +2
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using onl…
The Emotionally Intelligent Robot: Improving Social Navigation in Crowded Environments
Aniket Bera, Tanmay Randhavane, Rohan Prinja +4
We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces…
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks
Min Liu, Zherong Pan, Kai Xu +2
We present a learning-based method for representing grasp poses of a high-DOF hand using neural networks. Due to redundancy in such high-DOF grippers, there exists a large number o…
Efficient Probabilistic Collision Detection for Non-Gaussian Noise Distributions
Jae Sung Park, Dinesh Manocha
We present an efficient algorithm to compute tight upper bounds of collision probability between two objects with positional uncertainties, whose error distributions are represente…
LSwarm: Efficient Collision Avoidance for Large Swarms with Coverage Constraints in Complex Urban Scenes
Senthil Hariharan Arul, Adarsh Jagan Sathyamoorthy, Shivang Patel +4
In this paper, we address the problem of collision avoidance for a swarm of UAVs used for continuous surveillance of an urban environment. Our method, LSwarm, efficiently avoids co…