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Visual monitoring of industrial assembly tasks is critical for preventing equipment damage due to procedural errors and ensuring worker safety. Although commercial solutions exist, they typically require rigid workspace setups or the…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
One simplifying assumption made in distributed robot systems is that the robots are single-tasking: each robot operates on a single task at any time. While such a sanguine assumption is innocent to make in situations with sufficient…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Videos captured from multiple viewpoints can help in perceiving the 3D structure of the world and benefit computer vision tasks such as action recognition, tracking, etc. In this paper, we present a method for self-supervised learning from…
In multi-robot systems, ensuring safe and reliable decision making under uncertain conditions demands robust multi-robot belief space planning (MR-BSP) algorithms. While planning with multiple robots, each robot maintains a belief over the…
Robotics has long sought to develop visual-servoing robots capable of completing previously unseen long-horizon tasks. Hierarchical approaches offer a pathway for achieving this goal by executing skill combinations arranged by a task…
Robotic research is often built on approaches that are motivated by insights from self-examination of how we interface with the world. However, given current theories about human cognition and sensory processing, it is reasonable to assume…
Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…
The view and the view update are known mechanism for controlling access of data and for integrating data of different schemas. Despite intensive and long research on them in both the database community and the programming language…
Visual reasoning -- the ability to interpret the visual world -- is crucial for embodied agents that operate within three-dimensional scenes. Progress in AI has led to vision and language models capable of answering questions from images.…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…
Egocentric pose estimation is a fundamental capability for multi-robot collaborative perception in connected autonomy, such as connected autonomous vehicles. During multi-robot operations, a robot needs to know the relative pose between…
Trustworthy multi-view classification (TMVC) addresses the challenge of achieving reliable decision-making in complex scenarios where multi-source information is heterogeneous, inconsistent, or even conflicting. Existing TMVC approaches…
View transformers process multi-view observations to predict actions and have shown impressive performance in robotic manipulation. Existing methods typically extract static visual representations in a view-specific manner, leading to…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
Cooperative Simultaneous Localization and Mapping (C-SLAM) enables multiple agents to work together in mapping unknown environments while simultaneously estimating their own positions. This approach enhances robustness, scalability, and…
We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system called Periscope. With Periscope, a local worker completes…
Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…