Research and Publications
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End-to-End Egospheric Spatial Memory
Daniel lenton,
Stephen James,
Ronald Clark,
Andrew Davison
International Conference on Learning Representations (ICLR), 2021
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ESM encodes the memory in an ego-sphere around the agent, enabling expressive 3D representations.
ESM can be trained end-to-end via either imitation or reinforcement learning,
and improves both training efficiency and final performance against other memory baselines on visuomotor control tasks.
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Ivy: Templated Deep Learning for Inter-Framework Portability
Daniel lenton,
Fabio Pardo,
Fabian Falck,
Stephen James,
Ronald Clark
arXiv, 2021
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Ivy is a templated Machine Learning (ML) framework which abstracts existing ML frameworks such that their core functions all exhibit consistent call signatures and
syntax. Ivy allows high-level framework-agnostic functions, layers and libraries to be implemented on top.
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Unsupervised Path Regression Networks
Michal Pandy,
Daniel lenton,
Ronald Clark
International Conference on Intelligent Robots and Systems (IROS), 2021
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We demonstrate that challenging shortest path problems can be solved via direct spline
regression from a neural network, trained in an unsupervised manner without requiring
ground truth optimal paths for training. To achieve this, we derive a geometry-dependent
optimal cost function whose minima guarantees collision-free solutions.
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Waypoint Planning Networks
Alexandru-Iosif Toma,
Hussein Ali Jaafar,
Hao-Ya Hsueh,
Stephen James,
Daniel lenton,
Ronald Clark,
Sajad Saeedi,
International Conference on Computer Vision and Robotics (CVR), 2021
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Waypoint Planning Networks, or WPN, is a hybrid motion planning algorithm based on LSTMs with
a local kernel, a classic algorithm such as A*, and a global kernel using a learned
algorithm. WPN produces a more computationally efficient and robust solution than other
learned approaches.
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MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric
Fusion
Kentaro Wada,
Edgar Sucar,
Stephen James,
Daniel lenton,
Andrew Davison
Conference on Computer Vision and Pattern Recognition (CVPR), 2020
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MoreFusion makes 3D object pose proposals from single RGB-D views,
accumulates pose estimates and non-parametric occupancy information from multiple views as
the camera moves,
and performs joint optimization to estimate consistent, non-intersecting poses for multiple
objects in contact.
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