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Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…
This paper presents a fast and parsimonious parsing method to accurately and robustly detect a vectorized wireframe in an input image with a single forward pass. The proposed method is end-to-end trainable, consisting of three components:…
Structural pruning can simplify network architecture and improve inference speed. We propose Hardware-Aware Latency Pruning (HALP) that formulates structural pruning as a global resource allocation optimization problem, aiming at maximizing…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
The systems monitoring the location of public transport vehicles rely on wireless transmission. The location readings from GPS-based devices are received with some latency caused by periodical data transmission and temporal problems…
Recently, anchor-based trajectory prediction methods have shown promising performance, which directly selects a final set of anchors as future intents in the spatio-temporal coupled space. However, such methods typically neglect a deeper…
Path planning is a fundamental problem in road networks, with the goal of finding a path that optimizes objectives such as shortest distance or minimal travel time. Existing methods typically use graph indexing to ensure the efficiency of…
Planning multi-contact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated…
Intelligent autonomous path planning is essential for enhancing the exploration efficiency of mobile robots operating in uneven terrains like planetary surfaces and off-road environments.In this paper, we propose the NNPP model for…
Displacement mapping is an important tool for modeling detailed geometric features. We explore the problem of authoring complex surfaces while ray tracing interactively. Current techniques for ray tracing displaced surfaces rely on…
High Resolution Range Profiles (HRRP) have become a key area of focus in the domain of Radar Automatic Target Recognition (RATR). Despite the success of deep learning based HRRP recognition, these methods needs a large amount of training…
This paper presents SHARP (Supercomputing for High-speed Avoidance and Reactive Planning), a proof-of-concept study demonstrating how high-performance computing (HPC) can enable millisecond-scale responsiveness in robotic control. While…
Crystal structures can be predicted from first-principles using ab initio random structure searching AIRSS and density functional theory (DFT). AIRSS provides a method to sample the potential energy landscape and DFT provides a robust and…
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of whole-body control (WBC). Many methods focused on guaranteeing…
RRT* is an efficient sampling-based motion planning algorithm. However, without taking advantages of accessible environment information, sampling-based algorithms usually result in sampling failures, generate useless nodes, and/or fail in…
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Connect, propagates in both forward and backward directions in…
This paper presents a set of simple and intuitive robot collision detection algorithms that show substantial scaling improvements for high geometric complexity and large numbers of collision queries by leveraging hardware-accelerated ray…
Neural representations have shown spectacular ability to compress complex signals in a fraction of the raw data size. In 3D computer graphics, the bulk of a scene's memory usage is due to polygons and textures, making them ideal candidates…
This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…
We present an algorithm for creating an n-level ray-space hierarchy (RSH) of coherent rays that runs on the GPU. Our algorithm uses rasterization to process the primary rays, then uses those results as the inputs for a RSH, that processes…