Related papers: ORRB -- OpenAI Remote Rendering Backend
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
Research ultrasound platforms have enabled many next-generation imaging sequences but have lacked realtime navigation capabilities for emerging 2D arrays such as row-column arrays (RCAs). We present an open-source, GPU-accelerated…
Machine learning in production needs to balance multiple objectives: This is particularly evident in ranking or recommendation models, where conflicting objectives such as user engagement, satisfaction, diversity, and novelty must be…
3D reconstruction has been widely used in autonomous navigation fields of mobile robotics. However, the former research can only provide the basic geometry structure without the capability of open-world scene understanding, limiting…
Neural Radiance Fields (NeRF) have emerged as a powerful paradigm for 3D scene representation, offering high-fidelity renderings and reconstructions from a set of sparse and unstructured sensor data. In the context of autonomous robotics,…
Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…
This paper presents a novel approach for local 3D environment representation for autonomous unmanned ground vehicle (UGV) navigation called On Visible Point Clouds Mesh(OVPC Mesh). Our approach represents the surrounding of the robot as a…
Virtual environments (VEs) are pivotal for virtual, augmented, and mixed reality systems. Despite advances in 3D generation and reconstruction, the direct creation of 3D objects within an established 3D scene (represented as NeRF) for novel…
In open-set recognition (OSR), classifiers should be able to reject unknown-class samples while maintaining high closed-set classification accuracy. To effectively solve the OSR problem, previous studies attempted to limit latent feature…
We envision a future in which autonomous robots conduct scientific experiments in ways that are not only precise and repeatable, but also open, trustworthy, and transparent. To realize this vision, we present two key contributions: a…
We introduce Artifact-Based Rendering (ABR), a framework of tools, algorithms, and processes that makes it possible to produce real, data-driven 3D scientific visualizations with a visual language derived entirely from colors, lines,…
Robotics has made remarkable hardware strides-from DARPA's Urban and Robotics Challenges to the first humanoid-robot kickboxing tournament-yet commercial autonomy still lags behind progress in machine learning. A major bottleneck is…
In this paper, we propose a One-Point-One NeRF (OPONeRF) framework for robust scene rendering. Existing NeRFs are designed based on a key assumption that the target scene remains unchanged between the training and test time. However, small…
Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior methods are often tailored to specific environments, relying on…
OpenReservoirComputing (ORC) is a Python library for reservoir computing (RC) written in JAX (Bradbury et al. 2018) and Equinox (Kidger and Garcia 2021). JAX is a Python library for high-performance numerical computing that enables…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these…
We present a novel optimization algorithm called DroNeRF for the autonomous positioning of monocular camera drones around an object for real-time 3D reconstruction using only a few images. Neural Radiance Fields or NeRF, is a novel view…
Success stories of applied machine learning can be traced back to the datasets and environments that were put forward as challenges for the community. The challenge that the community sets as a benchmark is usually the challenge that the…
On-orbit proximity operations in space rendezvous, docking and debris removal require precise and robust 6D pose estimation under a wide range of lighting conditions and against highly textured background, i.e., the Earth. This paper…