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In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) a 3D…
The procedural generation of levels and content in video games is a challenging AI problem. Often such generation relies on an intelligent way of evaluating the content being generated so that constraints are satisfied and/or objectives…
Evolutionary algorithms are wildly used in unmanned aerial vehicle path planning for their flexibility and effectiveness. Nevertheless, they are so sensitive to the change of environment that can't adapt to all scenarios. Due to this…
Creating scenes for captured motions that achieve realistic human-scene interaction is crucial for 3D animation in movies or video games. As character motion is often captured in a blue-screened studio without real furniture or objects in…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Reduced order models are computationally inexpensive approximations that capture the important dynamical characteristics of large, high-fidelity computer models of physical systems. This paper applies machine learning techniques to improve…
The paper presents a novel approach for vector-floorplan generation via a diffusion model, which denoises 2D coordinates of room/door corners with two inference objectives: 1) a single-step noise as the continuous quantity to precisely…
Automated floorplan generation aims to improve design quality, architectural efficiency, and sustainability by jointly modeling global spatial organization and precise geometric detail. However, existing approaches operate in raster space…
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…
In this paper we propose an online approximate k-nn graph building algorithm, which is able to quickly update a k-nn graph using a flow of data points. One very important step of the algorithm consists in using the current distributed graph…
Approximate nearest neighbor algorithms are used to speed up nearest neighbor search in a wide array of applications. However, current indexing methods feature several hyperparameters that need to be tuned to reach an acceptable…
Creating realistic VR experiences is challenging due to the labor-intensive process of accurately replicating real-world details into virtual scenes, highlighting the need for automated methods that maintain spatial accuracy and provide…
In this paper we describe an algorithm which generates all colored planar maps with a good minimum sparsity from simple motifs and rules to connect them. An implementation of this algorithm is available and is used by chemists who want to…
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…
The minimum distance of a code is an important concept in information theory. Hence, computing the minimum distance of a code with a minimum computational cost is a crucial process to many problems in this area. In this paper, we present…
In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves…
Simulation of forest environments has applications from entertainment and art creation to commercial and scientific modelling. Due to the unique features and lighting in forests, a forest-specific simulator is desirable, however many…
High-definition roads are an essential component of realistic driving scenario simulation for autonomous vehicle testing. Roundabouts are one of the key road segments that have not been thoroughly investigated. Based on the geometric…
We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…
We propose a novel method applicable in many scene understanding problems that adapts the Monte Carlo Tree Search (MCTS) algorithm, originally designed to learn to play games of high-state complexity. From a generated pool of proposals, our…