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We exploit the complementary strengths of vision and proprioception to achieve point goal navigation in a legged robot. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully exploit this capability, we need the high-level path planner in the navigation system to be aware of the walking capabilities of the low-level locomotion policy on varying terrains. We achieve this by using proprioceptive feedback to estimate the safe operating limits of the walking policy, and to sense unexpected obstacles and terrain properties like smoothness or softness of the ground that may be missed by vision. The navigation system uses onboard cameras to generate an occupancy map and a corresponding cost map to reach the goal. The FMM (Fast Marching Method) planner then generates a target path. The velocity command generator takes this as input to generate the desired velocity for the locomotion policy using as input additional constraints, from the safety advisor, of unexpected obstacles and terrain determined speed limits. We show superior performance compared to wheeled robot (LoCoBot) baselines, and other baselines which have disjoint high-level planning and low-level control. We also show the real-world deployment of our system on a quadruped robot with onboard sensors and compute. Videos at //navigation-locomotion.github.io/camera-ready

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile quadrotor control, but relies on highly accurate models for maximum performance. Hence, model uncertainties in the form of unmodeled complex aerodynamic effects, varying payloads and parameter mismatch will degrade overall system performance. In this paper, we propose L1-NMPC, a novel hybrid adaptive NMPC to learn model uncertainties online and immediately compensate for them, drastically improving performance over the non-adaptive baseline with minimal computational overhead. Our proposed architecture generalizes to many different environments from which we evaluate wind, unknown payloads, and highly agile flight conditions. The proposed method demonstrates immense flexibility and robustness, with more than 90% tracking error reduction over non-adaptive NMPC under large unknown disturbances and without any gain tuning. In addition, the same controller with identical gains can accurately fly highly agile racing trajectories exhibiting top speeds of 70 km/h, offering tracking performance improvements of around 50% relative to the non-adaptive NMPC baseline.

Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of such perception system especially for the sake of path planning, motion prediction, collision avoidance, etc. Generally, stereo or monocular images with corresponding 3D point clouds are already standard layout for 3D object detection, out of which point clouds are increasingly prevalent with accurate depth information being provided. Despite existing efforts, 3D object detection on point clouds is still in its infancy due to high sparseness and irregularity of point clouds by nature, misalignment view between camera view and LiDAR bird's eye of view for modality synergies, occlusions and scale variations at long distances, etc. Recently, profound progress has been made in 3D object detection, with a large body of literature being investigated to address this vision task. As such, we present a comprehensive review of the latest progress in this field covering all the main topics including sensors, fundamentals, and the recent state-of-the-art detection methods with their pros and cons. Furthermore, we introduce metrics and provide quantitative comparisons on popular public datasets. The avenues for future work are going to be judiciously identified after an in-deep analysis of the surveyed works. Finally, we conclude this paper.

With the advent of deep learning, many dense prediction tasks, i.e. tasks that produce pixel-level predictions, have seen significant performance improvements. The typical approach is to learn these tasks in isolation, that is, a separate neural network is trained for each individual task. Yet, recent multi-task learning (MTL) techniques have shown promising results w.r.t. performance, computations and/or memory footprint, by jointly tackling multiple tasks through a learned shared representation. In this survey, we provide a well-rounded view on state-of-the-art deep learning approaches for MTL in computer vision, explicitly emphasizing on dense prediction tasks. Our contributions concern the following. First, we consider MTL from a network architecture point-of-view. We include an extensive overview and discuss the advantages/disadvantages of recent popular MTL models. Second, we examine various optimization methods to tackle the joint learning of multiple tasks. We summarize the qualitative elements of these works and explore their commonalities and differences. Finally, we provide an extensive experimental evaluation across a variety of dense prediction benchmarks to examine the pros and cons of the different methods, including both architectural and optimization based strategies.

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit spatial location and implicit visual feature, and learn to model the effects of actions using random interaction data. Our model allows capturing the robot-object and object-object interactions, and leads to more sample-efficient and accurate predictions. We show that this learned model can be leveraged to search for action sequences that lead to desired goal configurations, and that in conjunction with a learned correction module, this allows for robust closed loop execution. We present experiments both in simulation and the real world, and show that our approach improves over alternate implicit or pixel-space forward models. Please see our project page (//judyye.github.io/ocmpc/) for result videos.

In this paper, we focus on the question: how might mobile robots take advantage of affordable RGB-D sensors for object detection? Although current CNN-based object detectors have achieved impressive results, there are three main drawbacks for practical usage on mobile robots: 1) It is hard and time-consuming to collect and annotate large-scale training sets. 2) It usually needs a long training time. 3) CNN-based object detection shows significant weakness in predicting location. We propose a novel approach for the detection of planar objects, which rectifies images with geometric information to compensate for the perspective distortion before feeding it to the CNN detector module, typically a CNN-based detector like YOLO or MASK RCNN. By dealing with the perspective distortion in advance, we eliminate the need for the CNN detector to learn that. Experiments show that this approach significantly boosts the detection performance. Besides, it effectively reduces the number of training images required. In addition to the novel detection framework proposed, we also release an RGB-D dataset for hazmat sign detection. To the best of our knowledge, this is the first public-available hazmat sign detection dataset with RGB-D sensors.

Convolutions on monocular dash cam videos capture spatial invariances in the image plane but do not explicitly reason about distances and depth. We propose a simple transformation of observations into a bird's eye view, also known as plan view, for end-to-end control. We detect vehicles and pedestrians in the first person view and project them into an overhead plan view. This representation provides an abstraction of the environment from which a deep network can easily deduce the positions and directions of entities. Additionally, the plan view enables us to leverage advances in 3D object detection in conjunction with deep policy learning. We evaluate our monocular plan view network on the photo-realistic Grand Theft Auto V simulator. A network using both a plan view and front view causes less than half as many collisions as previous detection-based methods and an order of magnitude fewer collisions than pure pixel-based policies.

The current strive towards end-to-end trainable computer vision systems imposes major challenges for the task of visual tracking. In contrast to most other vision problems, tracking requires the learning of a robust target-specific appearance model online, during the inference stage. To be end-to-end trainable, the online learning of the target model thus needs to be embedded in the tracking architecture itself. Due to these difficulties, the popular Siamese paradigm simply predicts a target feature template. However, such a model possesses limited discriminative power due to its inability of integrating background information. We develop an end-to-end tracking architecture, capable of fully exploiting both target and background appearance information for target model prediction. Our architecture is derived from a discriminative learning loss by designing a dedicated optimization process that is capable of predicting a powerful model in only a few iterations. Furthermore, our approach is able to learn key aspects of the discriminative loss itself. The proposed tracker sets a new state-of-the-art on 6 tracking benchmarks, achieving an EAO score of 0.440 on VOT2018, while running at over 40 FPS.

While supervised learning has enabled great progress in many applications, unsupervised learning has not seen such widespread adoption, and remains an important and challenging endeavor for artificial intelligence. In this work, we propose a universal unsupervised learning approach to extract useful representations from high-dimensional data, which we call Contrastive Predictive Coding. The key insight of our model is to learn such representations by predicting the future in latent space by using powerful autoregressive models. We use a probabilistic contrastive loss which induces the latent space to capture information that is maximally useful to predict future samples. It also makes the model tractable by using negative sampling. While most prior work has focused on evaluating representations for a particular modality, we demonstrate that our approach is able to learn useful representations achieving strong performance on four distinct domains: speech, images, text and reinforcement learning in 3D environments.

Although deep reinforcement learning (deep RL) methods have lots of strengths that are favorable if applied to autonomous driving, real deep RL applications in autonomous driving have been slowed down by the modeling gap between the source (training) domain and the target (deployment) domain. Unlike current policy transfer approaches, which generally limit to the usage of uninterpretable neural network representations as the transferred features, we propose to transfer concrete kinematic quantities in autonomous driving. The proposed robust-control-based (RC) generic transfer architecture, which we call RL-RC, incorporates a transferable hierarchical RL trajectory planner and a robust tracking controller based on disturbance observer (DOB). The deep RL policies trained with known nominal dynamics model are transfered directly to the target domain, DOB-based robust tracking control is applied to tackle the modeling gap including the vehicle dynamics errors and the external disturbances such as side forces. We provide simulations validating the capability of the proposed method to achieve zero-shot transfer across multiple driving scenarios such as lane keeping, lane changing and obstacle avoidance.