Related papers: Robots with Lights: Overcoming Obstructed Visibili…
In an open-world setting, it is inevitable that an intelligent agent (e.g., a robot) will encounter visual objects, attributes or relationships it does not recognize. In this work, we develop an agent empowered with visual curiosity, i.e.…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…
Liquids are an important part of many common manipulation tasks in human environments. If we wish to have robots that can accomplish these types of tasks, they must be able to interact with liquids in an intelligent manner. In this paper,…
Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…
A group of mobile agents, identical, anonymous, and oblivious (memoryless), having the capability to sense only the relative direction (bearing) to neighborhing agents within a finite visibility range, are shown to gather to a meeting point…
In distributed computing by mobile robots, robots are deployed over a region, continuous or discrete, operating through a sequence of \textit{look-compute-move} cycles. An extensive study has been carried out to understand the computational…
Imagine coating buildings and bridges with smart particles (also coined smart paint) that monitor structural integrity and sense and report on traffic and wind loads, leading to technology that could do such inspection jobs faster and…
The Arbitrary Pattern Formation problem asks to design a distributed algorithm that allows a set of autonomous mobile robots to form any specific but arbitrary geometric pattern given as input. The problem has been extensively studied in…
Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must remain within the robot's…
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…
Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…
Continual learning is often motivated by the idea, known as the big world hypothesis, that "the world is bigger" than the agent. Recent problem formulations capture this idea by explicitly constraining an agent relative to the environment.…
In this paper, we address the multi-robot collaborative perception problem, specifically in the context of multi-view infilling for distributed semantic segmentation. This setting entails several real-world challenges, especially those…
Humans perceive and interact with hundreds of objects every day. In doing so, they need to employ mental models of these objects and often exploit symmetries in the object's shape and appearance in order to learn generalizable and…
Vision-language models (VLMs) are powerful but remain opaque black boxes. We introduce the first framework for transparent circuit tracing in VLMs to systematically analyze multimodal reasoning. By utilizing transcoders, attribution graphs,…