Related papers: VICToRy: Visual Interactive Consistency Management…
We introduce ScenarioControl, the first vision-language control mechanism for learned driving scenario generation. Given a text prompt or an input image, Scenario-Control synthesizes diverse, realistic 3D scenario rollouts - including map,…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…
Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…
As learning-based robotic controllers are typically trained offline and deployed with fixed parameters, their ability to cope with unforeseen changes during operation is limited. Biologically inspired, this work presents a framework for…
Tactile representation learning (TRL) equips robots with the ability to leverage touch information, boosting performance in tasks such as environment perception and object manipulation. However, the heterogeneity of tactile sensors results…
The ability to robustly and efficiently control the dynamics of nonlinear systems lies at the heart of many current technological challenges, ranging from drug delivery systems to ensuring flight safety. Most such scenarios are too complex…
We introduce Vision Bridge Transformer (ViBT), a large-scale instantiation of Brownian Bridge Models designed for conditional generation. Unlike traditional diffusion models that transform noise into data, Bridge Models directly model the…
The Diffusion Transformer plays a pivotal role in advancing text-to-image and text-to-video generation, owing primarily to its inherent scalability. However, existing controlled diffusion transformer methods incur significant parameter and…
We study reward models for long-horizon manipulation tasks by learning from action-free videos and language instructions, which we term the visual-instruction correlation (VIC) problem. Recent advancements in cross-modality modeling have…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
The Paxos distributed consensus algorithm is a challenging case-study for standard, vector-based model checking techniques. Due to asynchronous communication, exhaustive analysis may generate very large state spaces already for small model…
The traditional user-centered design process can hardly keep up with the ever faster technical development and increasingly diverse user preferences. As a solution, we propose to augment the tried-and-tested approach of conducting user…
In this paper, the Voxel Interactive Contour Tool for Online Radiation Intensity Analytics (VICTORIA) web viewer is presented as a solution to the issue of inaccessible, expensive, and insecure Digital Imaging and Communications in Medicine…
Context: Visual GUI testing (VGT) is referred to as the latest generation GUI-based testing. It is a tool-driven technique, which uses image recognition for interacting with and asserting the behavior of the system under test. Motivated by…
Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize specific costs, offering adaptability to new scenarios but…
Controllable and realistic traffic simulation is critical for developing and verifying autonomous vehicles. Typical heuristic-based traffic models offer flexible control to make vehicles follow specific trajectories and traffic rules. On…
Tracking 3D objects accurately and consistently is crucial for autonomous vehicles, enabling more reliable downstream tasks such as trajectory prediction and motion planning. Based on the substantial progress in object detection in recent…
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…
Coarse-grained reconfigurable arrays (CGRAs) have gained attention in recent years due to their promising power efficiency compared to traditional von Neumann architectures. To program these architectures using ordinary languages such as C,…