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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
A Decentralized Spike-based Learning Framework for Sequen...
Mohammed Thousif, Shridhar Velhal, Suresh Sundaram, Shirin Dora · 2023-05-26 · via cs.RO updates on arXiv.org

This paper proposes a novel Decentralized Spike-based Learning (DSL) framework for the discrete Perimeter Defense Problem (d-PDP). A team of defenders is operating on the perimeter to protect the circular territory from radially incoming intruders. At first, the d-PDP is formulated as a spatio-temporal multi-task assignment problem (STMTA). The problem of STMTA is then converted into a multi-label learning problem to obtain labels of segments that defenders have to visit in order to protect the perimeter. The DSL framework uses a Multi-Label Classifier using Synaptic Efficacy Function spiking neuRON (MLC-SEFRON) network for deterministic multi-label learning. Each defender contains a single MLC-SEFRON network. Each MLC-SEFRON network is trained independently using input from its own perspective for decentralized operations. The input spikes to the MLC-SEFRON network can be directly obtained from the spatio-temporal information of defenders and intruders without any extra pre-processing step. The output of MLC-SEFRON contains the labels of segments that a defender has to visit in order to protect the perimeter. Based on the multi-label output from the MLC-SEFRON a trajectory is generated for a defender using a Consensus-Based Bundle Algorithm (CBBA) in order to capture the intruders. The target multi-label output for training MLC-SEFRON is obtained from an expert policy. Also, the MLC-SEFRON trained for a defender can be directly used for obtaining labels of segments assigned to another defender without any retraining. The performance of MLC-SEFRON has been evaluated for full observation and partial observation scenarios of the defender. The overall performance of the DSL framework is then compared with expert policy along with other existing learning algorithms. The scalability of the DSL has been evaluated using an increasing number of defenders.