Related papers: Generalized Regressive Motion: a Visual Cue to Col…
In collective motion, perceptually-limited individuals move in an ordered manner, without centralized control. The perception of each individual is highly localized, as is its ability to interact with others. While natural collective motion…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. The measurement of the looming cue…
In the central nervous systems of animals like pigeons and locusts, neurons were identified which signal objects approaching the animal on a direct collision course. Unraveling the neural circuitry for collision avoidance, and identifying…
The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model…
Conventional SLAM algorithms takes a strong assumption of scene motionlessness, which limits the application in real environments. This paper tries to tackle the challenging visual SLAM issue of moving objects in dynamic environments. We…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. In this paper we derive novel…
Animals locomote for various reasons: to search for food, find suitable habitat, pursue prey, escape from predators, or seek a mate. The grand scale of biodiversity contributes to the great locomotory design and mode diversity. Various…
Natural and lifelike locomotion remains a fundamental challenge for humanoid robots to interact with human society. However, previous methods either neglect motion naturalness or rely on unstable and ambiguous style rewards. In this paper,…
Inspired by insects' visual brains, this paper presents original modelling of a complementary visual neuronal systems model for real-time and robust collision sensing. Two categories of wide-field motion sensitive neurons, i.e., the lobula…
Looming detection plays an important role in insect collision prevention systems. As a vital capability evolutionary survival, it has been extensively studied in neuroscience and is attracting increasing research interest in robotics due to…
Detecting and segmenting individual objects, regardless of their category, is crucial for many applications such as action detection or robotic interaction. While this problem has been well-studied under the classic formulation of…
Rectilinear crawling locomotion is a primitive and common mode of locomotion in slender, soft-bodied animals. It requires coordinated contractions that propagate along a body that interacts frictionally with its environment. We propose a…
Quadruped animals are capable of exhibiting a diverse range of locomotion gaits. While progress has been made in demonstrating such gaits on robots, current methods rely on motion priors, dynamics models, or other forms of extensive manual…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
Motion, measured via optical flow, provides a powerful cue to discover and learn objects in images and videos. However, compared to using appearance, it has some blind spots, such as the fact that objects become invisible if they do not…
Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…
While generic object detection has achieved large improvements with rich feature hierarchies from deep nets, detecting small objects with poor visual cues remains challenging. Motion cues from multiple frames may be more informative for…
Collision detection is one of the most challenging tasks for Unmanned Aerial Vehicles (UAVs). This is especially true for small or micro UAVs, due to their limited computational power. In nature, flying insects with compact and simple…
Collective animal movement fascinates children and scientists alike. One of the most commonly given explanations for collective animal movement is improved foraging. Animals are hypothesized to gain from searching for food in groups. Here,…
Human-object interaction (HOI) synthesis is crucial for applications in animation, simulation, and robotics. However, existing approaches either rely on expensive motion capture data or require manual reward engineering, limiting their…