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The Double-Scoop Gripper: A Tendon-Driven Soft-Rigid End-Effector for Food Handling Exploiting Constraints in Narrow Spaces | https://ieeexplore.ieee.org/document/10611693/ | [
"Leonardo Franco",
"Enrico Turco",
"Valerio Bo",
"Maria Pozzi",
"Monica Malvezzi",
"Domenico Prattichizzo",
"Gionata Salvietti",
"Leonardo Franco",
"Enrico Turco",
"Valerio Bo",
"Maria Pozzi",
"Monica Malvezzi",
"Domenico Prattichizzo",
"Gionata Salvietti"
] | Food handling is a challenging task for robotic grippers, as it requires to manipulate highly deformable and fragile items, that can be easily damaged. Moreover, ingredients for the preparation of the different dishes are usually stored in small containers that are often not easily accessible. This paper introduces an innovative soft-rigid, tendon-driven gripper: the Double-Scoop Gripper (DSG). It... |
Co-Designing Manipulation Systems Using Task-Relevant Constraints | https://ieeexplore.ieee.org/document/10611686/ | [
"Apoorv Vaish",
"Oliver Brock",
"Apoorv Vaish",
"Oliver Brock"
] | A robotic system’s hardware and control policy must be co-optimized to ensure they complement each other to interact robustly with the environment. However, this combined search is extremely high-dimensional and intractable without a suitable underlying representation. This paper uses environmental constraints to structure the co-design space for manipulation. We show that task-relevant constraint... |
Squirrel-inspired Tendon-driven Passive Gripper for Agile Landing | https://ieeexplore.ieee.org/document/10610730/ | [
"Stanley J. Wang",
"Duyi Kuang",
"Sebastian D. Lee",
"Robert J. Full",
"Hannah S. Stuart",
"Stanley J. Wang",
"Duyi Kuang",
"Sebastian D. Lee",
"Robert J. Full",
"Hannah S. Stuart"
] | Squirrels exhibit agile leaping between tree branches, often using non-prehensile gripping with compliant and passively adaptive fingers. We aim to test the utility of such gripping in agile robotic maneuvering. In the present study, we first examine the parametric design of a squirrel-inspired underactuated gripper for passive landing on impact. We fix the geometry of the gripper and vary the joi... |
HASHI: Highly Adaptable Seafood Handling Instrument for Manipulation in Industrial Settings | https://ieeexplore.ieee.org/document/10611022/ | [
"Austin Allison",
"Nathaniel Hanson",
"Sebastian Wicke",
"Taşkın Padır",
"Austin Allison",
"Nathaniel Hanson",
"Sebastian Wicke",
"Taşkın Padır"
] | The seafood processing industry provides fertile ground for robotics to impact the future-of-work from multiple perspectives including productivity, worker safety, and quality of work life. The robotics research challenge in this domain is the realization of flexible and reliable manipulation of soft, deformable, slippery, spiky and scaly objects. In this paper, we propose a novel robot end effect... |
Road Obstacle Detection based on Unknown Objectness Scores | https://ieeexplore.ieee.org/document/10610249/ | [
"Chihiro Noguchi",
"Toshiaki Ohgushi",
"Masao Yamanaka",
"Chihiro Noguchi",
"Toshiaki Ohgushi",
"Masao Yamanaka"
] | The detection of unknown traffic obstacles is vital to ensure safe autonomous driving. The standard object-detection methods cannot identify unknown objects that are not included under predefined categories. This is because object-detection methods are trained to assign a background label to pixels corresponding to the presence of unknown objects. To address this problem, the pixel-wise anomaly-de... |
PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection | https://ieeexplore.ieee.org/document/10610346/ | [
"Zhaoqi Leng",
"Pei Sun",
"Tong He",
"Dragomir Anguelov",
"Mingxing Tan",
"Zhaoqi Leng",
"Pei Sun",
"Tong He",
"Dragomir Anguelov",
"Mingxing Tan"
] | 3D object detectors for point clouds often rely on a pooling-based PointNet [20] to encode sparse points into grid-like voxels or pillars. In this paper, we identify that the common PointNet design introduces an information bottleneck that limits 3D object detection accuracy and scalability. To address this limitation, we propose PVTransformer: a transformer-based point-to-voxel architecture for 3... |
Hierarchical Point Attention for Indoor 3D Object Detection | https://ieeexplore.ieee.org/document/10610108/ | [
"Manli Shu",
"Le Xue",
"Ning Yu",
"Roberto Martín-Martín",
"Caiming Xiong",
"Tom Goldstein",
"Juan Carlos Niebles",
"Ran Xu",
"Manli Shu",
"Le Xue",
"Ning Yu",
"Roberto Martín-Martín",
"Caiming Xiong",
"Tom Goldstein",
"Juan Carlos Niebles",
"Ran Xu"
] | 3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object detection. However, the lack of hierarchy in a plain transformer restrains its ability to learn features at different scales. Such limitation makes transformer detec... |
Frame Fusion with Vehicle Motion Prediction for 3D Object Detection | https://ieeexplore.ieee.org/document/10610204/ | [
"Xirui Li",
"Feng Wang",
"Naiyan Wang",
"Chao Ma",
"Xirui Li",
"Feng Wang",
"Naiyan Wang",
"Chao Ma"
] | In LiDAR-based 3D detection, history point clouds contain rich temporal information helpful for future prediction. In the same way, history detections should contribute to future detections. In this paper, we propose a detection enhancement method, namely FrameFusion, which improves 3D object detection results by fusing history detection frames. In FrameFusion, we "forward" history frames to the c... |
Fine-Grained Pillar Feature Encoding Via Spatio-Temporal Virtual Grid for 3D Object Detection | https://ieeexplore.ieee.org/document/10611414/ | [
"Konyul Park",
"Yecheol Kim",
"Junho Koh",
"Byungwoo Park",
"Jun Won Choi",
"Konyul Park",
"Yecheol Kim",
"Junho Koh",
"Byungwoo Park",
"Jun Won Choi"
] | Developing high-performance, real-time architectures for LiDAR-based 3D object detectors is essential for the successful commercialization of autonomous vehicles. Pillar-based methods stand out as a practical choice for onboard deployment due to their computational efficiency. However, despite their efficiency, these methods can sometimes underperform compared to alternative point encoding techniq... |
Efficient Semantic Segmentation for Compressed Video | https://ieeexplore.ieee.org/document/10610435/ | [
"Jiaxin Cai",
"Qi Li",
"Yulin Shen",
"Jia Pan",
"Wenxi Liu",
"Jiaxin Cai",
"Qi Li",
"Yulin Shen",
"Jia Pan",
"Wenxi Liu"
] | Robots, constrained by limited onboard computing resources, often encounter situations wherein high-resolution and high-bit-rate videos captured by their cameras necessitate compression before further analysis. In this paper, we propose a novel video semantic segmentation paradigm for compressed video. Specifically, our framework draws the inspiration from the principle of Wavelet Transform, and t... |
Cross-Cluster Shifting for Efficient and Effective 3D Object Detection in Autonomous Driving | https://ieeexplore.ieee.org/document/10611345/ | [
"Zhili Chen",
"Kien T. Pham",
"Maosheng Ye",
"Zhiqiang Shen",
"Qifeng Chen",
"Zhili Chen",
"Kien T. Pham",
"Maosheng Ye",
"Zhiqiang Shen",
"Qifeng Chen"
] | We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of points. While this method effectively reduces computational demands and increases receptive fields, it will compromise the preservation of crucial non-local informati... |
BEE-Net: Bridging Semantic and Instance with Gated Encoding and Edge Constraint for Efficient Panoptic Segmentation | https://ieeexplore.ieee.org/document/10610497/ | [
"Xinyang Huang",
"Guanghui Zhang",
"Dongchen Zhu",
"Yunpeng Sun",
"Wenjun Shi",
"Gang Ye",
"Yang Xiao",
"Lei Wang",
"Xiaolin Zhang",
"Bo Li",
"Jiamao Li",
"Xinyang Huang",
"Guanghui Zhang",
"Dongchen Zhu",
"Yunpeng Sun",
"Wenjun Shi",
"Gang Ye",
"Yang Xiao",
"Lei Wang",
"Xiaolin Zhang",
"Bo Li",
"Jiamao Li"
] | Panoptic segmentation is a challenging perception task, which can help robots to comprehensively perceive the surrounding environment. In the task, we notice that semantic, instance, and panoptic have rich relations, however, which are rarely explored. In this work, we propose a novel panoptic, instance, and semantic bridged network to delve into the reciprocal relation. To make semantic and insta... |
SliceIt! - A Dual Simulator Framework for Learning Robot Food Slicing | https://ieeexplore.ieee.org/document/10611596/ | [
"Cristian C. Beltran-Hernandez",
"Nicolas Erbetti",
"Masashi Hamaya",
"Cristian C. Beltran-Hernandez",
"Nicolas Erbetti",
"Masashi Hamaya"
] | Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environments, especially when handling dangerous tools such as kitchen knives. This study focuses on enabling a robot to autonomously and safely learn food-cutting tasks. More specifically, our goal is to enable a collaborative... |
SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphs | https://ieeexplore.ieee.org/document/10610792/ | [
"Guangyao Zhai",
"Xiaoni Cai",
"Dianye Huang",
"Yan Di",
"Fabian Manhardt",
"Federico Tombari",
"Nassir Navab",
"Benjamin Busam",
"Guangyao Zhai",
"Xiaoni Cai",
"Dianye Huang",
"Yan Di",
"Fabian Manhardt",
"Federico Tombari",
"Nassir Navab",
"Benjamin Busam"
] | Object rearrangement is pivotal in robotic-environment interactions, representing a significant capability in embodied AI. In this paper, we present SG-Bot, a novel rearrangement framework that utilizes a coarse-to-fine scheme with a scene graph as the scene representation. Unlike previous methods that rely on either known goal priors or zero-shot large models, SG-Bot exemplifies lightweight, real... |
Scalable Multi-Robot Collaboration with Large Language Models: Centralized or Decentralized Systems? | https://ieeexplore.ieee.org/document/10610676/ | [
"Yongchao Chen",
"Jacob Arkin",
"Yang Zhang",
"Nicholas Roy",
"Chuchu Fan",
"Yongchao Chen",
"Jacob Arkin",
"Yang Zhang",
"Nicholas Roy",
"Chuchu Fan"
] | A flurry of recent work has demonstrated that pre-trained large language models (LLMs) can be effective task planners for a variety of single-robot tasks. The planning performance of LLMs is significantly improved via prompting techniques, such as in-context learning or re-prompting with state feedback, placing new importance on the token budget for the context window. An under-explored but natura... |
Object-Centric Instruction Augmentation for Robotic Manipulation | https://ieeexplore.ieee.org/document/10609992/ | [
"Junjie Wen",
"Yichen Zhu",
"Minjie Zhu",
"Jinming Li",
"Zhiyuan Xu",
"Zhengping Che",
"Chaomin Shen",
"Yaxin Peng",
"Dong Liu",
"Feifei Feng",
"Jian Tang",
"Junjie Wen",
"Yichen Zhu",
"Minjie Zhu",
"Jinming Li",
"Zhiyuan Xu",
"Zhengping Che",
"Chaomin Shen",
"Yaxin Peng",
"Dong Liu",
"Feifei Feng",
"Jian Tang"
] | Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as "pick and place", understanding both what the objects are and where they are located is crucial. While the former has been extensively discussed in the literature that uses the large language model to enrich the text descriptions, the latter remains undere... |
Learning to Play Foosball: System and Baselines | https://ieeexplore.ieee.org/document/10611321/ | [
"Janosch Moos",
"Cedric Derstroff",
"Niklas Schröder",
"Debora Clever",
"Janosch Moos",
"Cedric Derstroff",
"Niklas Schröder",
"Debora Clever"
] | This work stages Foosball as a versatile platform for advancing scientific research, particularly in the realm of robot learning. We present an automated Foosball table along with its corresponding simulated counterpart, showcasing a diverse range of challenges through example tasks within the Foosball environment. Initial findings are shared using a simple baseline approach. Foosball constitutes ... |
Language-Conditioned Robotic Manipulation with Fast and Slow Thinking | https://ieeexplore.ieee.org/document/10611525/ | [
"Minjie Zhu",
"Yichen Zhu",
"Jinming Li",
"Junjie Wen",
"Zhiyuan Xu",
"Zhengping Che",
"Chaomin Shen",
"Yaxin Peng",
"Dong Liu",
"Feifei Feng",
"Jian Tang",
"Minjie Zhu",
"Yichen Zhu",
"Jinming Li",
"Junjie Wen",
"Zhiyuan Xu",
"Zhengping Che",
"Chaomin Shen",
"Yaxin Peng",
"Dong Liu",
"Feifei Feng",
"Jian Tang"
] | The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple "pick-and-place" to tasks requiring intent recognition and visual reasoning. Inspired by the dual-process theory in cognitive science—which suggests two parallel systems of fast and slow thinking in human decision-making—we introduce Robotics with Fast and Slow Thinking... |
How to Prompt Your Robot: A PromptBook for Manipulation Skills with Code as Policies | https://ieeexplore.ieee.org/document/10610784/ | [
"Montserrat Gonzalez Arenas",
"Ted Xiao",
"Sumeet Singh",
"Vidhi Jain",
"Allen Ren",
"Quan Vuong",
"Jake Varley",
"Alexander Herzog",
"Isabel Leal",
"Sean Kirmani",
"Mario Prats",
"Dorsa Sadigh",
"Vikas Sindhwani",
"Kanishka Rao",
"Jacky Liang",
"Andy Zeng",
"Montserrat Gonzalez Arenas",
"Ted Xiao",
"Sumeet Singh",
"Vidhi Jain",
"Allen Ren",
"Quan Vuong",
"Jake Varley",
"Alexander Herzog",
"Isabel Leal",
"Sean Kirmani",
"Mario Prats",
"Dorsa Sadigh",
"Vikas Sindhwani",
"Kanishka Rao",
"Jacky Liang",
"Andy Zeng"
] | Large Language Models (LLMs) have demonstrated the ability to perform semantic reasoning, planning and write code for robotics tasks. However, most methods rely on pre-existing primitives (i.e. pick, open drawer) or similar examples of robot code alone, which heavily limits their scalability to new scenarios. We present PromptBook, a collection of different prompting paradigms to generate code for... |
A Multifidelity Sim-to-Real Pipeline for Verifiable and Compositional Reinforcement Learning | https://ieeexplore.ieee.org/document/10610735/ | [
"Cyrus Neary",
"Christian Ellis",
"Aryaman Singh Samyal",
"Craig Lennon",
"Ufuk Topcu",
"Cyrus Neary",
"Christian Ellis",
"Aryaman Singh Samyal",
"Craig Lennon",
"Ufuk Topcu"
] | We propose and demonstrate a compositional framework for training and verifying reinforcement learning (RL) systems within a multifidelity sim-to-real pipeline, in order to deploy reliable and adaptable RL policies on physical hardware. By decomposing complex robotic tasks into component subtasks and defining mathematical interfaces between them, the framework allows for the independent training a... |
Bridging the Sim-to-Real Gap with Dynamic Compliance Tuning for Industrial Insertion | https://ieeexplore.ieee.org/document/10610707/ | [
"Xiang Zhang",
"Masayoshi Tomizuka",
"Hui Li",
"Xiang Zhang",
"Masayoshi Tomizuka",
"Hui Li"
] | Contact-rich manipulation tasks often exhibit a large sim-to-real gap. For instance, industrial assembly tasks frequently involve tight insertions where the clearance is less than 0.1 mm and can even be negative when dealing with a deformable receptacle. This narrow clearance leads to complex contact dynamics that are difficult to model accurately in simulation, making it challenging to transfer s... |
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility | https://ieeexplore.ieee.org/document/10611595/ | [
"Yunsheng Tian",
"Karl D. D. Willis",
"Bassel Al Omari",
"Jieliang Luo",
"Pingchuan Ma",
"Yichen Li",
"Farhad Javid",
"Edward Gu",
"Joshua Jacob",
"Shinjiro Sueda",
"Hui Li",
"Sachin Chitta",
"Wojciech Matusik",
"Yunsheng Tian",
"Karl D. D. Willis",
"Bassel Al Omari",
"Jieliang Luo",
"Pingchuan Ma",
"Yichen Li",
"Farhad Javid",
"Edward Gu",
"Joshua Jacob",
"Shinjiro Sueda",
"Hui Li",
"Sachin Chitta",
"Wojciech Matusik"
] | The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper, we present ASAP, a physics-based planning approach for automatically generating such a sequence for general-shaped assemblies. ASAP accounts for gravity to design a sequence where each sub-assembly is physically stable... |
MM4MM: Map Matching Framework for Multi-Session Mapping in Ambiguous and Perceptually-Degraded Environments | https://ieeexplore.ieee.org/document/10611566/ | [
"Zhenyu Wu",
"Wei Wang",
"Chunyang Zhao",
"Yufeng Yue",
"Jun Zhang",
"Hongming Shen",
"Danwei Wang",
"Zhenyu Wu",
"Wei Wang",
"Chunyang Zhao",
"Yufeng Yue",
"Jun Zhang",
"Hongming Shen",
"Danwei Wang"
] | Multi-session mapping serves as the pre-requisite for autonomous robots to fulfill various long-term tasks (e.g., map updating, navigation, collaboration). However, it is challenging to implement multi-session mapping in enclosed or partially enclosed ambiguous environments (e.g., long corridors, industrial warehouses). Existing solutions either depend heavily on the matching of elementary geometr... |
Learning Generalizable Patrolling Strategies through Domain Randomization of Attacker Behaviors | https://ieeexplore.ieee.org/document/10610052/ | [
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin",
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin"
] | Graph-patrolling problems in the adversarial domain typically embed models and assumptions about how hostile events, from which an environment must be protected, are generated at a specific time and location. Relying upon such attacker models prevents algorithms from synthesizing strategies that can generalize in different settings, providing good performance under different and uncertain scenario... |
Combining Coordination and Independent Coverage in MultiRobot Graph Patrolling | https://ieeexplore.ieee.org/document/10611463/ | [
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin",
"Carlos Diaz Alvarenga",
"Nicola Basilico",
"Stefano Carpin"
] | Graph patrolling algorithms provide effective strategies for coordinating mobile robots in the context of autonomously surveilling valuable assets. Optimizing patrolling strategies often aims to minimize the time between subsequent visits to a vertex, a measure known in the literature as idleness. In the domain of multi-robot patrolling, two approaches have received the most attention so far. The ... |
Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems | https://ieeexplore.ieee.org/document/10611225/ | [
"James Maier",
"Prasanna Sriganesh",
"Matthew Travers",
"James Maier",
"Prasanna Sriganesh",
"Matthew Travers"
] | Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling facility. Traditionally, each agent in a sorting facility is tuned individually which leads to suboptimal performance if one agent is less efficient than the others. Centralized control overcomes this bottleneck by levera... |
A Safety-Adapted Loss for Pedestrian Detection in Autonomous Driving | https://ieeexplore.ieee.org/document/10610038/ | [
"Maria Lyssenko",
"Piyush Pimplikar",
"Maarten Bieshaar",
"Farzad Nozarian",
"Rudolph Triebel",
"Maria Lyssenko",
"Piyush Pimplikar",
"Maarten Bieshaar",
"Farzad Nozarian",
"Rudolph Triebel"
] | In safety-critical domains like autonomous driving (AD), errors by the object detector may endanger pedestrians and other vulnerable road users (VRU). As raw evaluation metrics are not an adequate safety indicator, recent works leverage domain knowledge to identify safety-relevant VRU, and to back-annotate the criticality of the interaction to the object detector. However, those approaches do not ... |
PCB-RandNet: Rethinking Random Sampling for LiDAR Semantic Segmentation in Autonomous Driving Scene | https://ieeexplore.ieee.org/document/10610105/ | [
"Xian-Feng Han",
"Huixian Cheng",
"Hang Jiang",
"Dehong He",
"Guoqiang Xiao",
"Xian-Feng Han",
"Huixian Cheng",
"Hang Jiang",
"Dehong He",
"Guoqiang Xiao"
] | Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process large-scale point clouds. However, our quantative and qualitative studies have found that Random Sampling may be less suitable for the autonomous driving scenario,... |
STT: Stateful Tracking with Transformers for Autonomous Driving | https://ieeexplore.ieee.org/document/10610802/ | [
"Longlong Jing",
"Ruichi Yu",
"Xu Chen",
"Zhengli Zhao",
"Shiwei Sheng",
"Colin Graber",
"Qi Chen",
"Qinru Li",
"Shangxuan Wu",
"Han Deng",
"Sangjin Lee",
"Chris Sweeney",
"Qiurui He",
"Wei-Chih Hung",
"Tong He",
"Xingyi Zhou",
"Farshid Moussavi",
"James Guo",
"Yin Zhou",
"Mingxing Tan",
"Weilong Yang",
"Congcong Li",
"Longlong Jing",
"Ruichi Yu",
"Xu Chen",
"Zhengli Zhao",
"Shiwei Sheng",
"Colin Graber",
"Qi Chen",
"Qinru Li",
"Shangxuan Wu",
"Han Deng",
"Sangjin Lee",
"Chris Sweeney",
"Qiurui He",
"Wei-Chih Hung",
"Tong He",
"Xingyi Zhou",
"Farshid Moussavi",
"James Guo",
"Yin Zhou",
"Mingxing Tan",
"Weilong Yang",
"Congcong Li"
] | Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and acceleration in the present. Existing works frequently focus on the association task while either neglecting the model’s performance on state estimation or deploying... |
SmartCooper: Vehicular Collaborative Perception with Adaptive Fusion and Judger Mechanism | https://ieeexplore.ieee.org/document/10610199/ | [
"Yuang Zhang",
"Haonan An",
"Zhengru Fang",
"Guowen Xu",
"Yuan Zhou",
"Xianhao Chen",
"Yuguang Fang",
"Yuang Zhang",
"Haonan An",
"Zhengru Fang",
"Guowen Xu",
"Yuan Zhou",
"Xianhao Chen",
"Yuguang Fang"
] | In recent years, autonomous driving has garnered significant attention due to its potential for improving road safety through collaborative perception among connected and autonomous vehicles (CAVs). However, time-varying channel variations in vehicular transmission environments demand dynamic allocation of communication resources. Moreover, in the context of collaborative perception, it is importa... |
A Neural-Evolutionary Algorithm for Autonomous Transit Network Design | https://ieeexplore.ieee.org/document/10611313/ | [
"Andrew Holliday",
"Gregory Dudek",
"Andrew Holliday",
"Gregory Dudek"
] | Planning a public transit network is a challenging optimization problem, but essential in order to realize the benefits of autonomous buses. We propose a novel algorithm for planning networks of routes for autonomous buses. We first train a graph neural net model as a policy for constructing route networks, and then use the policy as one of several mutation operators in a evolutionary algorithm. W... |
Are you a robot? Detecting Autonomous Vehicles from Behavior Analysis | https://ieeexplore.ieee.org/document/10610658/ | [
"Fabio Maresca",
"Filippo Grazioli",
"Antonio Albanese",
"Vincenzo Sciancalepore",
"Gianpiero Negri",
"Xavier Costa-Perez",
"Fabio Maresca",
"Filippo Grazioli",
"Antonio Albanese",
"Vincenzo Sciancalepore",
"Gianpiero Negri",
"Xavier Costa-Perez"
] | The tremendous hype around autonomous driving is eagerly calling for emerging and novel technologies to support advanced mobility use cases. As car manufactures keep developing SAE level 3+ systems to improve the safety and comfort of passengers, traffic authorities need to establish new procedures to manage the transition from human-driven to fully-autonomous vehicles while providing a feedback-l... |
RaTrack: Moving Object Detection and Tracking with 4D Radar Point Cloud | https://ieeexplore.ieee.org/document/10610368/ | [
"Zhijun Pan",
"Fangqiang Ding",
"Hantao Zhong",
"Chris Xiaoxuan Lu",
"Zhijun Pan",
"Fangqiang Ding",
"Hantao Zhong",
"Chris Xiaoxuan Lu"
] | Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most current methods utilize LiDARs or cameras for Multiple Object Tracking (MOT), the capabilities of 4D imaging radars remain largely unexplored. Recognizing the c... |
Mixed Traffic Control and Coordination from Pixels | https://ieeexplore.ieee.org/document/10610517/ | [
"Michael Villarreal",
"Bibek Poudel",
"Jia Pan",
"Weizi Li",
"Michael Villarreal",
"Bibek Poudel",
"Jia Pan",
"Weizi Li"
] | Traffic congestion is a persistent problem in our society. Previous methods for traffic control have proven futile in alleviating current congestion levels leading researchers to explore ideas with robot vehicles given the increased emergence of vehicles with different levels of autonomy on our roads. This gives rise to mixed traffic control, where robot vehicles regulate human-driven vehicles thr... |
Exoskeleton-Mediated Physical Human-Human Interaction for a Sit-to-Stand Rehabilitation Task | https://ieeexplore.ieee.org/document/10610796/ | [
"Lorenzo Vianello",
"Emek Barış Küçüktabak",
"Matthew Short",
"Clément Lhoste",
"Lorenzo Amato",
"Kevin Lynch",
"Jose Pons",
"Lorenzo Vianello",
"Emek Barış Küçüktabak",
"Matthew Short",
"Clément Lhoste",
"Lorenzo Amato",
"Kevin Lynch",
"Jose Pons"
] | Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these can be physically demanding for therapists while assistive devices may limit patient participation and hinder motor learning. To address these challenges, this... |
Intraoperatively Iterative Hough Transform Based In-plane Hybrid Control of Arterial Robotic Ultrasound for Magnetic Catheterization | https://ieeexplore.ieee.org/document/10611682/ | [
"Zhengyang Li",
"Magejiang Yeerbulati",
"Qingsong Xu",
"Zhengyang Li",
"Magejiang Yeerbulati",
"Qingsong Xu"
] | This paper presents an intraoperatively iterative Hough transform (IHT) based in-plane hybrid control of extracorporeal ultrasound (US) guided magnetic catheterization for arterial intervention. One uniqueness lies in that both control and tracking of the arterial robotic ultrasound end-effector have been implemented to improve performance. Firstly, the magnetic catheter model and hybrid visual/fo... |
Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation | https://ieeexplore.ieee.org/document/10610098/ | [
"Yongyi Jia",
"Shu Miao",
"Junjian Zhou",
"Niandong Jiao",
"Lianqing Liu",
"Xiang Li",
"Yongyi Jia",
"Shu Miao",
"Junjian Zhou",
"Niandong Jiao",
"Lianqing Liu",
"Xiang Li"
] | Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic interventions. Existing techniques commonly impart magnetic properties to the target object, or drive the robot to contact and then manipulate the object, both probably... |
Design and Implementation of A Robotized Hand-held Dissector for Endoscopic Pulmonary Endarterectomy | https://ieeexplore.ieee.org/document/10610104/ | [
"Runfeng Zhu",
"Xilong Hou",
"Wei Huang",
"Lei Du",
"Zhong Wu",
"Hongbin Liu",
"Henry K. Chu",
"Qingxiang Zhao",
"Runfeng Zhu",
"Xilong Hou",
"Wei Huang",
"Lei Du",
"Zhong Wu",
"Hongbin Liu",
"Henry K. Chu",
"Qingxiang Zhao"
] | Severe chronic pulmonary endarterectomy needs a dissector to delicately remove proliferative intima located in the depth of the pulmonary artery. This work proposed a novel endoscopic robotized steerable dissector for this surgery, enabling easier access to curved deep artery branches. The handheld surgical dissector also provides suction and visualization for surgeons to enhance effectiveness. Th... |
Colibri5: Real-Time Monocular 5-DoF Trocar Pose Tracking for Robot-Assisted Vitreoretinal Surgery | https://ieeexplore.ieee.org/document/10610576/ | [
"Shervin Dehghani",
"Michael Sommersperger",
"Mahdi Saleh",
"Alireza Alikhani",
"Benjamin Busam",
"Peter Gehlbach",
"Iulian Iordachita",
"Nassir Navab",
"M. Ali Nasseri",
"Shervin Dehghani",
"Michael Sommersperger",
"Mahdi Saleh",
"Alireza Alikhani",
"Benjamin Busam",
"Peter Gehlbach",
"Iulian Iordachita",
"Nassir Navab",
"M. Ali Nasseri"
] | Retinal surgery is a complex medical procedure that requires high precision dexterity to perform delicate instrument maneuvers with sub-millimeter accuracy. Minimizing the manual tremor and achieving precise and repeatable execution of surgical tasks has motivated the development of robotic platforms to overcome the limitations of manual surgery. However, specific tasks, such as instrument inserti... |
Hybrid Volitional Control of a Robotic Transtibial Prosthesis using a Phase Variable Impedance Controller | https://ieeexplore.ieee.org/document/10610930/ | [
"Ryan R. Posh",
"Jonathan A. Tittle",
"David J. Kelly",
"James P. Schmiedeler",
"Patrick M. Wensing",
"Ryan R. Posh",
"Jonathan A. Tittle",
"David J. Kelly",
"James P. Schmiedeler",
"Patrick M. Wensing"
] | For robotic transtibial prosthesis control, the global tibia kinematics can be used to monitor gait cycle progression and command smooth and continuous actuation. In this work, these global tibia kinematics define a phase variable impedance controller (PVIC), which is implemented as the nonvolitional base controller within a hybrid volitional control framework (PVI-HVC). The gait progression estim... |
Do We Run Large-scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling | https://ieeexplore.ieee.org/document/10610771/ | [
"Jonas Kuckling",
"Robin Luckey",
"Viktor Avrutin",
"Andrew Vardy",
"Andreagiovanni Reina",
"Heiko Hamann",
"Jonas Kuckling",
"Robin Luckey",
"Viktor Avrutin",
"Andrew Vardy",
"Andreagiovanni Reina",
"Heiko Hamann"
] | With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applyin... |
Learning for Dynamic Subteaming and Voluntary Waiting in Heterogeneous Multi-Robot Collaborative Scheduling | https://ieeexplore.ieee.org/document/10610342/ | [
"Williard Joshua Jose",
"Hao Zhang",
"Williard Joshua Jose",
"Hao Zhang"
] | Coordinating heterogeneous robots is essential for autonomous multi-robot teaming. To execute a set of dependent tasks as quickly as possible, and to complete tasks that cannot be addressed by individual robots, it is necessary to form subteams that can collaboratively finish the tasks. It is also advantageous for robots to wait for teammates and tasks to become available in order to form better s... |
Asynchronous Distributed Smoothing and Mapping via On-Manifold Consensus ADMM | https://ieeexplore.ieee.org/document/10611193/ | [
"Daniel McGann",
"Kyle Lassak",
"Michael Kaess",
"Daniel McGann",
"Kyle Lassak",
"Michael Kaess"
] | In this paper we present a fully distributed, asynchronous, and general purpose optimization algorithm for Consensus Simultaneous Localization and Mapping (CSLAM). Multi-robot teams require that agents have timely and accurate solutions to their state as well as the states of the other robots in the team. To optimize this solution we develop a CSLAM back-end based on Consensus ADMM called MESA (Ma... |
Uncertainty-bounded Active Monitoring of Unknown Dynamic Targets in Road-networks with Minimum Fleet | https://ieeexplore.ieee.org/document/10610495/ | [
"Shuaikang Wang",
"Yiannis Kantaros",
"Meng Guo",
"Shuaikang Wang",
"Yiannis Kantaros",
"Meng Guo"
] | Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dynamic targets in a collaborative and efficient way is a challenging problem that requires online coordination and information fusion. The majority of existing works either assume a passive all-to-all observation model to m... |
Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load | https://ieeexplore.ieee.org/document/10610348/ | [
"Shaohang Xu",
"Yian Wang",
"Wentao Zhang",
"Chin Pang Ho",
"Lijun Zhu",
"Shaohang Xu",
"Yian Wang",
"Wentao Zhang",
"Chin Pang Ho",
"Lijun Zhu"
] | This paper presents a collaborative quadrotor-quadruped robot system for the manipulation of a cable-towed payload. In particular, we aim to solve the challenge from the unknown dynamics of the cable-towed payload. To this end, we first propose novel dynamic models for both the quadrotor and the quadruped robot, taking into account the nonlinear robot dynamics and the uncertainties associated with... |
Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving | https://ieeexplore.ieee.org/document/10610476/ | [
"Matt Schmittle",
"Rohan Baijal",
"Brian Hou",
"Siddhartha Srinivasa",
"Byron Boots",
"Matt Schmittle",
"Rohan Baijal",
"Brian Hou",
"Siddhartha Srinivasa",
"Byron Boots"
] | We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously receiving noisy local observations. An effective approach for planning under sensing uncertainty is determinization, where one converts a stochastic world into a deterministic one and plans under this simplification. Thi... |
Perceptual Factors for Environmental Modeling in Robotic Active Perception | https://ieeexplore.ieee.org/document/10611380/ | [
"David Morilla-Cabello",
"Jonas Westheider",
"Marija Popović",
"Eduardo Montijano",
"David Morilla-Cabello",
"Jonas Westheider",
"Marija Popović",
"Eduardo Montijano"
] | Accurately assessing the potential value of new sensor observations is a critical aspect of planning for active perception. This task is particularly challenging when reasoning about high-level scene understanding using measurements from vision-based neural networks. Due to appearance-based reasoning, the measurements are susceptible to several environmental effects such as the presence of occlude... |
Weathering Ongoing Uncertainty: Learning and Planning in a Time-Varying Partially Observable Environment | https://ieeexplore.ieee.org/document/10610954/ | [
"Gokul Puthumanaillam",
"Xiangyu Liu",
"Negar Mehr",
"Melkior Ornik",
"Gokul Puthumanaillam",
"Xiangyu Liu",
"Negar Mehr",
"Melkior Ornik"
] | Optimal decision-making presents a significant challenge for autonomous systems operating in uncertain, stochastic and time-varying environments. Environmental variability over time can significantly impact the system’s optimal decision making strategy for mission completion. To model such environments, our work combines the previous notion of Time-Varying Markov Decision Processes (TVMDP) with pa... |
Choosing the Right Tool for the Job: Online Decision Making over SLAM Algorithms | https://ieeexplore.ieee.org/document/10610827/ | [
"Samer B. Nashed",
"Roderic A. Grupen",
"Shlomo Zilberstein",
"Samer B. Nashed",
"Roderic A. Grupen",
"Shlomo Zilberstein"
] | Nearly all state-of-the-art SLAM algorithms are designed to exploit patterns in data from specific sensing modalities, such as time-of-flight and structured light depth sensors, or RGB cameras. This specialization increases localization accuracy in domains where the given modality detects many high-quality features, but comes at the cost of decreasing performance in other, less favorable environme... |
ASPIRe: An Informative Trajectory Planner with Mutual Information Approximation for Target Search and Tracking | https://ieeexplore.ieee.org/document/10611500/ | [
"Kangjie Zhou",
"Pengying Wu",
"Yao Su",
"Han Gao",
"Ji Ma",
"Hangxin Liu",
"Chang Liu",
"Kangjie Zhou",
"Pengying Wu",
"Yao Su",
"Han Gao",
"Ji Ma",
"Hangxin Liu",
"Chang Liu"
] | This paper proposes an informative trajectory planning approach, namely, adaptive particle filter tree with sigma point-based mutual information reward approximation (ASPIRe), for mobile target search and tracking (SAT) in cluttered environments with limited sensing field of view. We develop a novel sigma point-based approximation to accurately estimate mutual information (MI) for general, non-Gau... |
Self-Sensing Feedback Control of an Electrohydraulic Robotic Shoulder | https://ieeexplore.ieee.org/document/10610994/ | [
"Clemens C. Christoph",
"Amirhossein Kazemipour",
"Michel R. Vogt",
"Yu Zhang",
"Robert K. Katzschmann",
"Clemens C. Christoph",
"Amirhossein Kazemipour",
"Michel R. Vogt",
"Yu Zhang",
"Robert K. Katzschmann"
] | The human shoulder, with its glenohumeral joint, tendons, ligaments, and muscles, allows for the execution of complex tasks with precision and efficiency. However, current robotic shoulder designs lack the compliance and compactness inherent in their biological counterparts. A major limitation of these designs is their reliance on external sensors like rotary encoders, which restrict mechanical jo... |
Design And Validation of a Variable Stiffness Spiral Cam Actuator (VS-SCA) | https://ieeexplore.ieee.org/document/10610506/ | [
"Matthew R. Auer",
"Suhrud P. Joglekar",
"Hyunglae Lee",
"Matthew R. Auer",
"Suhrud P. Joglekar",
"Hyunglae Lee"
] | This study presents the design and validation of a variable stiffness actuator incorporating multiple cam mechanisms. The actuator is intended for use in walking assistance, focusing on assisting individuals with diminished ankle function. This study highlights the advantages of variable stiffness actuators over traditional and other modern actuators in mobility assistance. The working principles ... |
Hybrid Force-Position Control of an Elastic Tendon-Driven Scrubbing Robot (TEDSR) | https://ieeexplore.ieee.org/document/10610594/ | [
"Noah Harmatz",
"Alina Zahra",
"Amir Abdelmalak",
"Shivam Purohit",
"Trevor Shin",
"Aaron D. Mazzeo",
"Noah Harmatz",
"Alina Zahra",
"Amir Abdelmalak",
"Shivam Purohit",
"Trevor Shin",
"Aaron D. Mazzeo"
] | There is a lack of cleaning robots dedicated to the scrubbing of contaminated surfaces. Contaminated surfaces in domestic and industrial settings typically require manual scrubbing which can be costly or hazardous. There is growing demand for automated sanitization systems in hospitals, food-processing plants, and other settings where cleanliness of surfaces is important. To address the opportunit... |
Investigation on the multi-solution problem of the kinetostatics of cable-driven continuum manipulators | https://ieeexplore.ieee.org/document/10610795/ | [
"Yicheng Dai",
"Zuan Li",
"Xin Wang",
"Han Yuan",
"Yicheng Dai",
"Zuan Li",
"Xin Wang",
"Han Yuan"
] | Cable-driven continuum manipulators have gained considerable attention due to their high dexterity and inherent structural compliance, making them a popular research topic. However, previous studies have overlooked the kinetostatics of these manipulators, which can result in a multi-solution problem. This issue is critical as having multiple equilibrium states can lead to erroneous estimations of ... |
Elasto-Static Modelling and Identification of a Deployable Cable-Driven Parallel Robot with Compliant Masts* | https://ieeexplore.ieee.org/document/10610703/ | [
"Zane Zane",
"Stéphane Caro",
"Zane Zane",
"Stéphane Caro"
] | Some cable-driven parallel robots (CDPRs) can be rapidly deployed on-site. To achieve such deployability, the fixed frame is usually substituted by four masts. However, not having any rigid fixture between the masts reduces the overall stiffness of the CDPR. This paper introduces a CDPR called Rocaspect, that has four compliant masts. The robot behavior and accuracy is evaluated experimentally and... |
Torque Transmission in Double-Tendon Sheath Driven Actuators for Application in Exoskeletons | https://ieeexplore.ieee.org/document/10610254/ | [
"Daniel Pérez-Suay",
"Yu Li",
"Hamid Sadeghian",
"Abdeldjallil Naceri",
"Sami Haddadin",
"Daniel Pérez-Suay",
"Yu Li",
"Hamid Sadeghian",
"Abdeldjallil Naceri",
"Sami Haddadin"
] | Bowden cables serve as essential components in various mechanical systems, facilitating power transmission from remote actuators to specific destinations. The pretension of Bowden cables profoundly influences system performance, notably in terms of friction. This study investigates the effects of cable pretension and shape on friction and torque efficiency. A custom self-designed testbed, comprisi... |
OpenBot-Fleet: A System for Collective Learning with Real Robots | https://ieeexplore.ieee.org/document/10610960/ | [
"Matthias Müller",
"Samarth Brahmbhatt",
"Ankur Deka",
"Quentin Leboutet",
"David Hafner",
"Vladlen Koltun",
"Matthias Müller",
"Samarth Brahmbhatt",
"Ankur Deka",
"Quentin Leboutet",
"David Hafner",
"Vladlen Koltun"
] | We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a robust yet low-cost wheeled robot to act in real-world environments. The robots collect task data and upload it to the cloud where navigation policies can be l... |
WOMD-LiDAR: Raw Sensor Dataset Benchmark for Motion Forecasting | https://ieeexplore.ieee.org/document/10610651/ | [
"Kan Chen",
"Runzhou Ge",
"Hang Qiu",
"Rami Ai-Rfou",
"Charles Qi",
"Xuanyu Zhou",
"Zoey Yang",
"Scott Ettinger",
"Pei Sun",
"Zhaoqi Leng",
"Mustafa Baniodeh",
"Ivan Bogun",
"Weiyue Wang",
"Mingxing Tan",
"Dragomir Anguelov",
"Kan Chen",
"Runzhou Ge",
"Hang Qiu",
"Rami Ai-Rfou",
"Charles Qi",
"Xuanyu Zhou",
"Zoey Yang",
"Scott Ettinger",
"Pei Sun",
"Zhaoqi Leng",
"Mustafa Baniodeh",
"Ivan Bogun",
"Weiyue Wang",
"Mingxing Tan",
"Dragomir Anguelov"
] | Widely adopted motion forecasting datasets sub-stitute the observed sensory inputs with higher-level abstractions such as 3D boxes and polylines. These sparse shapes are inferred through annotating the original scenes with perception systems’ predictions. Such intermediate representations tie the quality of the motion forecasting models to the performance of computer vision models. Moreover, the h... |
Increasing the Absolute Position Accuracy of Industrial Robots by Means of a Deep Continual Evidential Regression Model * | https://ieeexplore.ieee.org/document/10611053/ | [
"Eckart Uhlmann",
"Mitchel Polte",
"Julian Blumberg",
"Sheng Yin",
"Gang Wang",
"Eckart Uhlmann",
"Mitchel Polte",
"Julian Blumberg",
"Sheng Yin",
"Gang Wang"
] | The use of industrial robots represents a key technology for increasing productivity and efficiency in manufacturing. However, their low absolute position accuracy still denies the broad substitution of machine tools by industrial robots. In this paper, a data-driven method for accuracy enhancement of industrial robots under consideration of kinematic, elastic, and thermal effects is presented. A ... |
SpawnNet: Learning Generalizable Visuomotor Skills from Pre-trained Network | https://ieeexplore.ieee.org/document/10610356/ | [
"Xingyu Lin",
"John So",
"Sashwat Mahalingam",
"Fangchen Liu",
"Pieter Abbeel",
"Xingyu Lin",
"John So",
"Sashwat Mahalingam",
"Fangchen Liu",
"Pieter Abbeel"
] | The existing internet-scale image and video datasets cover a wide range of everyday objects and tasks, bringing the potential of learning policies that generalize in diverse scenarios. Prior works have explored visual pre-training with different self-supervised objectives. Still, the generalization capabilities of the learned policies and the advantages over well-tuned baselines remain unclear fro... |
RoboAgent: Generalization and Efficiency in Robot Manipulation via Semantic Augmentations and Action Chunking | https://ieeexplore.ieee.org/document/10611293/ | [
"Homanga Bharadhwaj",
"Jay Vakil",
"Mohit Sharma",
"Abhinav Gupta",
"Shubham Tulsiani",
"Vikash Kumar",
"Homanga Bharadhwaj",
"Jay Vakil",
"Mohit Sharma",
"Abhinav Gupta",
"Shubham Tulsiani",
"Vikash Kumar"
] | The grand aim of having a single robot that can manipulate arbitrary objects in diverse settings is at odds with the paucity of robotics datasets. Acquiring and growing such datasets is strenuous due to manual efforts, operational costs, and safety challenges. A path toward such a universal agent requires an efficient framework capable of generalization but within a reasonable data budget. In this... |
Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Models | https://ieeexplore.ieee.org/document/10611220/ | [
"Ivan Kapelyukh",
"Yifei Ren",
"Ignacio Alzugaray",
"Edward Johns",
"Ivan Kapelyukh",
"Yifei Ren",
"Ignacio Alzugaray",
"Edward Johns"
] | We introduce Dream2Real, a robotics framework which integrates vision-language models (VLMs) trained on 2D data into a 3D object rearrangement pipeline. This is achieved by the robot autonomously constructing a 3D representation of the scene, where objects can be rearranged virtually and an image of the resulting arrangement rendered. These renders are evaluated by a VLM, so that the arrangement w... |
Robot Fine-Tuning Made Easy: Pre-Training Rewards and Policies for Autonomous Real-World Reinforcement Learning | https://ieeexplore.ieee.org/document/10610421/ | [
"Jingyun Yang",
"Max Sobol Mark",
"Brandon Vu",
"Archit Sharma",
"Jeannette Bohg",
"Chelsea Finn",
"Jingyun Yang",
"Max Sobol Mark",
"Brandon Vu",
"Archit Sharma",
"Jeannette Bohg",
"Chelsea Finn"
] | The pre-train and fine-tune paradigm in machine learning has had dramatic success in a wide range of domains because the use of existing data or pre-trained models on the internet enables quick and easy learning of new tasks. We aim to enable this paradigm in robotic reinforcement learning, allowing a robot to learn a new task with little human effort by leveraging data and models from the Interne... |
Scaling Motion Forecasting Models with Ensemble Distillation | https://ieeexplore.ieee.org/document/10611196/ | [
"Scott Ettinger",
"Kratarth Goel",
"Avikalp Srivastava",
"Rami Al-Rfou",
"Scott Ettinger",
"Kratarth Goel",
"Avikalp Srivastava",
"Rami Al-Rfou"
] | Motion forecasting has become an increasingly critical component of autonomous robotic systems. Onboard compute budgets typically limit the accuracy of real-time systems. In this work we propose methods of improving motion forecasting systems subject to limited compute budgets by combining model ensemble and distillation techniques. The use of ensembles of deep neural networks has been shown to im... |
Is it a Bug? Understanding Physical Unit Mismatches in Robot Software | https://ieeexplore.ieee.org/document/10611413/ | [
"Paulo Canelas",
"Trenton Tabor",
"John-Paul Ore",
"Alcides Fonseca",
"Claire Le Goues",
"Christopher S. Timperley",
"Paulo Canelas",
"Trenton Tabor",
"John-Paul Ore",
"Alcides Fonseca",
"Claire Le Goues",
"Christopher S. Timperley"
] | Robot software is abundant with variables that represent real-world physical units (e.g., meters, seconds). Operations over different units (e.g., adding meters and seconds) may be incorrect and can lead to dangerous system misbehaviors; manually detecting such mistakes is challenging. Current software analysis techniques identify such mismatches using dimensional analysis rules and ROS-specific a... |
Behavior Tree Capabilities for Dynamic Multi-Robot Task Allocation with Heterogeneous Robot Teams | https://ieeexplore.ieee.org/document/10610515/ | [
"Georg Heppner",
"David Oberacker",
"Arne Roennau",
"Rüdiger Dillmann",
"Georg Heppner",
"David Oberacker",
"Arne Roennau",
"Rüdiger Dillmann"
] | While individual robots are becoming increasingly capable, the complexity of expected missions increases exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a significant research interest in recent years. Making effective use of the robots and their unique skills in a team is challenging. Dynamic runtime conditions often make static task allocation... |
Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach | https://ieeexplore.ieee.org/document/10611204/ | [
"Viet-Anh Le",
"Vaishnav Tadiparthi",
"Behdad Chalaki",
"Hossein Nourkhiz Mahjoub",
"Jovin D’Sa",
"Ehsan Moradi-Pari",
"Andreas A. Malikopoulos",
"Viet-Anh Le",
"Vaishnav Tadiparthi",
"Behdad Chalaki",
"Hossein Nourkhiz Mahjoub",
"Jovin D’Sa",
"Ehsan Moradi-Pari",
"Andreas A. Malikopoulos"
] | In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long short-term memory model that forecasts pedestrians’ trajectories. We formulate the local MPC formulation for each individual robot that includes both individual and sha... |
Multi-robot Human-in-the-loop Control under Spatiotemporal Specifications | https://ieeexplore.ieee.org/document/10610123/ | [
"Yixiao Zhang",
"Victor Nan Fernandez-Ayala",
"Dimos V. Dimarogonas",
"Yixiao Zhang",
"Victor Nan Fernandez-Ayala",
"Dimos V. Dimarogonas"
] | In this work, we present a coordination strategy tailored for scenarios involving multiple agents and tasks. We devise a range of tasks using signal temporal logic (STL), each earmarked for specific agents. These tasks are then imposed through control barrier function (CBF) constraints to ensure completion. To extend existing methodologies, our framework adeptly manages interactions among multiple... |
Measurement-limited Multi-Agent, Relative Pose Estimation for On-Orbit Inspection | https://ieeexplore.ieee.org/document/10611394/ | [
"Mark Mercier",
"David Curtis",
"Clark Taylor",
"Mark Mercier",
"David Curtis",
"Clark Taylor"
] | Relative navigation methods are a critical enabling technology for the next generation of autonomous spacecraft conducting close proximity operations. This is especially true for multi-agent inspection operations in which safety including intra-agent or agent-target collisions are a serious concern. Additionally, in an on-orbit servicing operation various failure modes of the target may result in ... |
Dynamic Targeting of Satellite Observations Incorporating Slewing Costs and Complex Observation Utility * | https://ieeexplore.ieee.org/document/10610692/ | [
"Akseli Kangaslahti",
"Alberto Candela",
"Jason Swope",
"Qing Yue",
"Steve Chien",
"Akseli Kangaslahti",
"Alberto Candela",
"Jason Swope",
"Qing Yue",
"Steve Chien"
] | Maximizing the utility of limited Earth observing satellite resources is a difficult ongoing problem. Dynamic Targeting is an approach to this challenge that intelligently plans and executes primary sensor observations based on information from a look-ahead sensor. However, current implementations have failed to account for realistic satellite operational constraints and have used static utility f... |
RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction | https://ieeexplore.ieee.org/document/10611602/ | [
"Nikolaos Stathoulopoulos",
"Mario A.V. Saucedo",
"Anton Koval",
"George Nikolakopoulos",
"Nikolaos Stathoulopoulos",
"Mario A.V. Saucedo",
"Anton Koval",
"George Nikolakopoulos"
] | In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet’s methodology involves a transformative process: it projects 3D point clouds into range images, compresses them using an encoder-decoder framework, and subsequently reconst... |
Object Permanence Filter for Robust Tracking with Interactive Robots | https://ieeexplore.ieee.org/document/10611528/ | [
"Shaoting Peng",
"Margaret X. Wang",
"Julie A. Shah",
"Nadia Figueroa",
"Shaoting Peng",
"Margaret X. Wang",
"Julie A. Shah",
"Nadia Figueroa"
] | Object permanence, which refers to the concept that objects continue to exist even when they are no longer perceivable through the senses, is a crucial aspect of human cognitive development. In this work, we seek to incorporate this understanding into interactive robots by proposing a set of assumptions and rules to represent object permanence in multi-object, multi-agent interactive scenarios. We... |
Zero-Shot Open-Vocabulary Tracking with Large Pre-Trained Models | https://ieeexplore.ieee.org/document/10611726/ | [
"Wen-Hsuan Chu",
"Adam W. Harley",
"Pavel Tokmakov",
"Achal Dave",
"Leonidas Guibas",
"Katerina Fragkiadaki",
"Wen-Hsuan Chu",
"Adam W. Harley",
"Pavel Tokmakov",
"Achal Dave",
"Leonidas Guibas",
"Katerina Fragkiadaki"
] | Object tracking is central to robot perception and scene understanding, allowing robots to parse a video stream in terms of moving objects with names. Tracking-by-detection has long been a dominant paradigm for object tracking of specific object categories [1], [2]. Recently, large-scale pre-trained models have shown promising advances in detecting and segmenting objects and parts in 2D static ima... |
Refining Pre-Trained Motion Models | https://ieeexplore.ieee.org/document/10610900/ | [
"Xinglong Sun",
"Adam W. Harley",
"Leonidas J. Guibas",
"Xinglong Sun",
"Adam W. Harley",
"Leonidas J. Guibas"
] | Given the difficulty of manually annotating motion in video, the current best motion estimation methods are trained with synthetic data, and therefore struggle somewhat due to a train/test gap. Self-supervised methods hold the promise of training directly on real video, but typically perform worse. These include methods trained with warp error (i.e., color constancy) combined with smoothness terms... |
SWTrack: Multiple Hypothesis Sliding Window 3D Multi-Object Tracking | https://ieeexplore.ieee.org/document/10611067/ | [
"Sandro Papais",
"Robert Ren",
"Steven Waslander",
"Sandro Papais",
"Robert Ren",
"Steven Waslander"
] | Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame recursively with greedy association and are prone to errors in ambiguous association decisions. Our method, Sliding Window Tracker (SWTrack), yields more accurate ass... |
UncertaintyTrack: Exploiting Detection and Localization Uncertainty in Multi-Object Tracking | https://ieeexplore.ieee.org/document/10610458/ | [
"Chang Won Lee",
"Steven L. Waslander",
"Chang Won Lee",
"Steven L. Waslander"
] | Multi-object tracking (MOT) methods have seen a significant boost in performance recently, due to strong interest from the research community and steadily improving object detection methods. The majority of tracking methods, which follow the tracking-by-detection (TBD) paradigm, blindly trust the incoming detections with no sense of their associated localization uncertainty. This lack of uncertain... |
LiteTrack: Layer Pruning with Asynchronous Feature Extraction for Lightweight and Efficient Visual Tracking | https://ieeexplore.ieee.org/document/10610022/ | [
"Qingmao Wei",
"Bi Zeng",
"Jianqi Liu",
"Li He",
"Guotian Zeng",
"Qingmao Wei",
"Bi Zeng",
"Jianqi Liu",
"Li He",
"Guotian Zeng"
] | The recent advancements in transformer-based visual trackers have led to significant progress, attributed to their strong modeling capabilities. However, as performance improves, running latency correspondingly increases, presenting a challenge for real-time robotics applications, especially on edge devices with computational constraints. In response to this, we introduce LiteTrack, an efficient t... |
WeatherDepth: Curriculum Contrastive Learning for Self-Supervised Depth Estimation under Adverse Weather Conditions | https://ieeexplore.ieee.org/document/10611100/ | [
"Jiyuan Wang",
"Chunyu Lin",
"Lang Nie",
"Shujun Huang",
"Yao Zhao",
"Xing Pan",
"Rui Ai",
"Jiyuan Wang",
"Chunyu Lin",
"Lang Nie",
"Shujun Huang",
"Yao Zhao",
"Xing Pan",
"Rui Ai"
] | Depth estimation models have shown promising performance on clear scenes but fail to generalize to adverse weather conditions due to illumination variations, weather particles, etc. In this paper, we propose WeatherDepth, a self-supervised robust depth estimation model with curriculum contrastive learning, to tackle performance degradation in complex weather conditions. Concretely, we first presen... |
Collaborative Decision-Making Using Spatiotemporal Graphs in Connected Autonomy | https://ieeexplore.ieee.org/document/10610304/ | [
"Peng Gao",
"Yu Shen",
"Ming C. Lin",
"Peng Gao",
"Yu Shen",
"Ming C. Lin"
] | Collaborative decision-making is an essential capability for multi-robot systems, such as connected vehicles, to collaboratively control autonomous vehicles in accident-prone scenarios. Under limited communication bandwidth, capturing comprehensive situational awareness by integrating connected agents’ observation is very challenging. In this paper, we propose a novel collaborative decision-making... |
Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds | https://ieeexplore.ieee.org/document/10610926/ | [
"David Jin",
"Sushrut Karmalkar",
"Harry Zhang",
"Luca Carlone",
"David Jin",
"Sushrut Karmalkar",
"Harry Zhang",
"Luca Carlone"
] | We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set of objects at different poses (and possibly including points belonging to the background) and we want to simultaneously reconstruct how all objects moved between the two point clouds. This setup generalizes standard 3D ... |
VG4D: Vision-Language Model Goes 4D Video Recognition | https://ieeexplore.ieee.org/document/10610217/ | [
"Zhichao Deng",
"Xiangtai Li",
"Xia Li",
"Yunhai Tong",
"Shen Zhao",
"Mengyuan Liu",
"Zhichao Deng",
"Xiangtai Li",
"Xia Li",
"Yunhai Tong",
"Shen Zhao",
"Mengyuan Liu"
] | Understanding the real world through point cloud video is a crucial aspect of robotics and autonomous driving systems. However, prevailing methods for 4D point cloud recognition have limitations due to sensor resolution, which leads to a lack of detailed information. Recent advances have shown that Vision-Language Models (VLM) pre-trained on web-scale text-image datasets can learn fine-grained vis... |
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning | https://ieeexplore.ieee.org/document/10610243/ | [
"Qiao Gu",
"Ali Kuwajerwala",
"Sacha Morin",
"Krishna Murthy Jatavallabhula",
"Bipasha Sen",
"Aditya Agarwal",
"Corban Rivera",
"William Paul",
"Kirsty Ellis",
"Rama Chellappa",
"Chuang Gan",
"Celso Miguel de Melo",
"Joshua B. Tenenbaum",
"Antonio Torralba",
"Florian Shkurti",
"Liam Paull",
"Qiao Gu",
"Ali Kuwajerwala",
"Sacha Morin",
"Krishna Murthy Jatavallabhula",
"Bipasha Sen",
"Aditya Agarwal",
"Corban Rivera",
"William Paul",
"Kirsty Ellis",
"Rama Chellappa",
"Chuang Gan",
"Celso Miguel de Melo",
"Joshua B. Tenenbaum",
"Antonio Torralba",
"Florian Shkurti",
"Liam Paull"
] | For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features from large vision-language models to encode semantics in 3D representations. However, these approaches tend to produce maps with per-point feature vectors, whi... |
Long-Tailed 3D Semantic Segmentation with Adaptive Weight Constraint and Sampling | https://ieeexplore.ieee.org/document/10610029/ | [
"Jean Lahoud",
"Fahad Shahbaz Khan",
"Hisham Cholakkal",
"Rao Muhammad Anwer",
"Salman Khan",
"Jean Lahoud",
"Fahad Shahbaz Khan",
"Hisham Cholakkal",
"Rao Muhammad Anwer",
"Salman Khan"
] | Existing 3D understanding datasets typically provide annotations for a limited number of object classes, with sufficient examples per class. However, real-world object classes are not equally represented in practical settings, leading to poor performance on rarely-occurring categories if the class imbalance is neglected. In this work, we address the challenge of 3D semantic segmentation with a lon... |
Learning Diverse Skills for Local Navigation under Multi-constraint Optimality | https://ieeexplore.ieee.org/document/10611629/ | [
"Jin Cheng",
"Marin Vlastelica",
"Pavel Kolev",
"Chenhao Li",
"Georg Martius",
"Jin Cheng",
"Marin Vlastelica",
"Pavel Kolev",
"Chenhao Li",
"Georg Martius"
] | Despite many successful applications of data-driven control in robotics, extracting meaningful diverse behaviors remains a challenge. Typically, task performance needs to be compromised in order to achieve diversity. In many scenarios, task requirements are specified as a multitude of reward terms, each requiring a different trade-off. In this work, we take a constrained optimization viewpoint on ... |
Snake Robot with Tactile Perception Navigates on Large-scale Challenging Terrain | https://ieeexplore.ieee.org/document/10611384/ | [
"Shuo Jiang",
"Adarsh Salagame",
"Alireza Ramezani",
"Lawson L. S. Wong",
"Shuo Jiang",
"Adarsh Salagame",
"Alireza Ramezani",
"Lawson L. S. Wong"
] | Along with the advancement of robot skin technology, there has been notable progress in the development of snake robots featuring body-surface tactile perception. In this study, we proposed a locomotion control framework for snake robots that integrates tactile perception to augment their adaptability to various terrains. Our approach embraces a hierarchical reinforcement learning (HRL) architectu... |
RaLF: Flow-based Global and Metric Radar Localization in LiDAR Maps | https://ieeexplore.ieee.org/document/10610626/ | [
"Abhijeet Nayak",
"Daniele Cattaneo",
"Abhinav Valada",
"Abhijeet Nayak",
"Daniele Cattaneo",
"Abhinav Valada"
] | Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained attention due to their intrinsic robustness to such conditions. In this paper, we propose RaLF, a novel deep neural network-based approach for localizing radar sca... |
VPE-SLAM: Neural Implicit Voxel-permutohedral Encoding for SLAM | https://ieeexplore.ieee.org/document/10610865/ | [
"Zhiyao Zhang",
"Yunzhou Zhang",
"You Shen",
"Lei Rong",
"Sizhan Wang",
"Xin Ouyang",
"Yulong Li",
"Zhiyao Zhang",
"Yunzhou Zhang",
"You Shen",
"Lei Rong",
"Sizhan Wang",
"Xin Ouyang",
"Yulong Li"
] | NeRF can reconstruct incredibly realistic environmental maps in dense simultaneous localization and mapping, providing robots with more comprehensive scene map information. However, NeRF often struggles with geometric distortions in indoor reconstructions. To correct geometric distortions, we develop VPE-SLAM, based on the proposed voxel-permutohedral encoding, which can incrementally reconstruct ... |
Zero-Shot Wireless Indoor Navigation through Physics-Informed Reinforcement Learning | https://ieeexplore.ieee.org/document/10611229/ | [
"Mingsheng Yin",
"Tao Li",
"Haozhe Lei",
"Yaqi Hu",
"Sundeep Rangan",
"Quanyan Zhu",
"Mingsheng Yin",
"Tao Li",
"Haozhe Lei",
"Yaqi Hu",
"Sundeep Rangan",
"Quanyan Zhu"
] | The growing focus on indoor robot navigation utilizing wireless signals has stemmed from the capability of these signals to capture high-resolution angular and temporal measurements. Prior heuristic-based methods, based on radio frequency (RF) propagation, are intuitive and generalizable across simple scenarios, yet fail to navigate in complex environments. On the other hand, end-to-end (e2e) deep... |
An Environmental-Complexity-Based Navigation Method Based on Hierarchical Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10610970/ | [
"Pengbin Chen",
"Qi Liu",
"Yanjie Li",
"Shuaikang Ma",
"Pengbin Chen",
"Qi Liu",
"Yanjie Li",
"Shuaikang Ma"
] | Navigation methods based on deep reinforcement learning (RL) have recently exhibited superior performance, particularly for navigation in dynamic environments. However, most existing methods solely rely on deep neural network feature encoders to extract features from raw LiDAR data, lacking an explicit representation of environmental structure. This limitation hinders effective environmental repre... |
Pre-Trained Masked Image Model for Mobile Robot Navigation | https://ieeexplore.ieee.org/document/10611184/ | [
"Vishnu Dutt Sharma",
"Anukriti Singh",
"Pratap Tokekar",
"Vishnu Dutt Sharma",
"Anukriti Singh",
"Pratap Tokekar"
] | 2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have shown that predicting the structural patterns in the environment through learning-based approaches can greatly enhance task efficiency. While many such works build... |
Active Automotive Augmented Reality Displays using Reinforcement Learning | https://ieeexplore.ieee.org/document/10611683/ | [
"Ju-Hyeok Ryu",
"Chan Kim",
"Seong-Woo Kim",
"Ju-Hyeok Ryu",
"Chan Kim",
"Seong-Woo Kim"
] | In order to enhance driving convenience and safety, automotive Augmented Reality displays, e.g., head-up displays, have garnered attention and are gradually being deployed. However, when vehicles encounter uneven roads, vertical vibrations lead to mismatches between external physical objects and augmented reality overlay images, adversely affecting the AR display’s visibility. Resolving the proble... |
Extremum-Seeking Action Selection for Accelerating Policy Optimization | https://ieeexplore.ieee.org/document/10610197/ | [
"Ya-Chien Chang",
"Sicun Gao",
"Ya-Chien Chang",
"Sicun Gao"
] | Reinforcement learning for control over continuous spaces typically uses high-entropy stochastic policies, such as Gaussian distributions, for local exploration and estimating policy gradient to optimize performance. Many robotic control problems deal with complex unstable dynamics, where applying actions that are off the feasible control manifolds can quickly lead to undesirable divergence. In su... |
Privacy Risks in Reinforcement Learning for Household Robots | https://ieeexplore.ieee.org/document/10610832/ | [
"Miao Li",
"Wenhao Ding",
"Ding Zhao",
"Miao Li",
"Wenhao Ding",
"Ding Zhao"
] | The prominence of embodied Artificial Intelligence (AI), which empowers robots to navigate, perceive, and engage within virtual environments, has attracted significant attention, owing to the remarkable advances in computer vision and large language models. Privacy emerges as a pivotal concern within the realm of embodied AI, as the robot accesses substantial personal information. However, the iss... |
MAexp: A Generic Platform for RL-based Multi-Agent Exploration | https://ieeexplore.ieee.org/document/10611573/ | [
"Shaohao Zhu",
"Jiacheng Zhou",
"Anjun Chen",
"Mingming Bai",
"Jiming Chen",
"Jinming Xu",
"Shaohao Zhu",
"Jiacheng Zhou",
"Anjun Chen",
"Mingming Bai",
"Jiming Chen",
"Jinming Xu"
] | The sim-to-real gap poses a significant challenge in RL-based multi-agent exploration due to scene quantization and action discretization. Existing platforms suffer from the inefficiency in sampling and the lack of diversity in Multi-Agent Reinforcement Learning (MARL) algorithms across different scenarios, restraining their widespread applications. To fill these gaps, we propose MAexp, a generic ... |
Improving Offline Reinforcement Learning with Inaccurate Simulators | https://ieeexplore.ieee.org/document/10610833/ | [
"Yiwen Hou",
"Haoyuan Sun",
"Jinming Ma",
"Feng Wu",
"Yiwen Hou",
"Haoyuan Sun",
"Jinming Ma",
"Feng Wu"
] | Offline reinforcement learning (RL) provides a promising approach to avoid costly online interaction with the real environment. However, the performance of offline RL highly depends on the quality of the datasets, which may cause extrapolation error in the learning process. In many robotic applications, an inaccurate simulator is often available. However, the data directly collected from the inacc... |
REFORMA: Robust REinFORceMent Learning via Adaptive Adversary for Drones Flying under Disturbances | https://ieeexplore.ieee.org/document/10611002/ | [
"Hao-Lun Hsu",
"Haocheng Meng",
"Shaocheng Luo",
"Juncheng Dong",
"Vahid Tarokh",
"Miroslav Pajic",
"Hao-Lun Hsu",
"Haocheng Meng",
"Shaocheng Luo",
"Juncheng Dong",
"Vahid Tarokh",
"Miroslav Pajic"
] | In this work, we introduce REFORMA, a novel robust reinforcement learning (RL) approach to design controllers for unmanned aerial vehicles (UAVs) robust to unknown disturbances during flights. These disturbances, typically due to wind turbulence, electromagnetic interference, temperature extremes and many other external physical interference, are highly dynamic and difficult to model. REFORMA can ... |
Brain-Inspired Hyperdimensional Computing in the Wild: Lightweight Symbolic Learning for Sensorimotor Controls of Wheeled Robots | https://ieeexplore.ieee.org/document/10610176/ | [
"Hyukjun Kwon",
"Kangwon Kim",
"Junyoung Lee",
"Hyunsei Lee",
"Jiseung Kim",
"Jinhyung Kim",
"Taehyung Kim",
"Yongnyeon Kim",
"Yang Ni",
"Mohsen Imani",
"Ilhong Suh",
"Yeseong Kim",
"Hyukjun Kwon",
"Kangwon Kim",
"Junyoung Lee",
"Hyunsei Lee",
"Jiseung Kim",
"Jinhyung Kim",
"Taehyung Kim",
"Yongnyeon Kim",
"Yang Ni",
"Mohsen Imani",
"Ilhong Suh",
"Yeseong Kim"
] | Efficiency and performance are significant challenges in applying Machine Learning (ML) to robotics, especially in energy-constrained real-world scenarios. In this context, Hyperdimensional Computing offers an energy-efficient alternative but has been underexplored in robotics. We introduce ReactHD, an HDC-based framework tailored for perception-action-based learning for sensorimotor controls of r... |
Learning for Deformable Linear Object Insertion Leveraging Flexibility Estimation from Visual Cues | https://ieeexplore.ieee.org/document/10610419/ | [
"Mingen Li",
"Changhyun Choi",
"Mingen Li",
"Changhyun Choi"
] | Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young’s modulus and bending stiffness. Such diversity poses challenges for developing generalized manipulation policies. However, previous research limited their scope to single-material DLOs and engaged in time... |
Guided by the Way: The Role of On-the-route Objects and Scene Text in Enhancing Outdoor Navigation | https://ieeexplore.ieee.org/document/10611727/ | [
"Yanjun Sun",
"Yue Qiu",
"Yoshimitsu Aoki",
"Hirokatsu Kataoka",
"Yanjun Sun",
"Yue Qiu",
"Yoshimitsu Aoki",
"Hirokatsu Kataoka"
] | In outdoor environments, Vision-and-Language Navigation (VLN) requires an agent to rely on multi-modal cues from real-world urban environments and natural language instructions. While existing outdoor VLN models predict actions using a combination of panorama and instruction features, this approach ignores objects in the environment and learns data bias to fail navigation. According to our prelimi... |
PlaceNav: Topological Navigation through Place Recognition | https://ieeexplore.ieee.org/document/10610575/ | [
"Lauri Suomela",
"Jussi Kalliola",
"Harry Edelman",
"Joni-Kristian Kämäräinen",
"Lauri Suomela",
"Jussi Kalliola",
"Harry Edelman",
"Joni-Kristian Kämäräinen"
] | Recent results suggest that splitting topological navigation into robot-independent and robot-specific components improves navigation performance by enabling the robot-independent part to be trained with data collected by robots of different types. However, the navigation methods’ performance is still limited by the scarcity of suitable training data and they suffer from poor computational scaling... |
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