Related papers: Resource-aware Online Parameter Adaptation for Com…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
In this paper, we demonstrate how to learn the objective function of a decision-maker while only observing the problem input data and the decision-maker's corresponding decisions over multiple rounds. We present exact algorithms for this…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
Autonomous control of the laparoscope in robot-assisted Minimally Invasive Surgery (MIS) has received considerable research interest due to its potential to improve surgical safety. Despite progress in pixel-level Image-Based Visual…
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…
In this article, a tutorial introduction to visual-inertial navigation(VIN) is presented. Visual and inertial perception are two complementary sensing modalities. Cameras and inertial measurement units (IMU) are the corresponding sensors…
Target-driven visual navigation is a challenging problem that requires a robot to find the goal using only visual inputs. Many researchers have demonstrated promising results using deep reinforcement learning (deep RL) on various robotic…
Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…
Emerging reconfigurable datacenters allow to dynamically adjust the network topology in a demand-aware manner. These datacenters rely on optical switches which can be reconfigured to provide direct connectivity between racks, in the form of…
This paper presents an adaptive online distributed optimal control approach that is applicable to optimal planning for very-large-scale robotics systems in highly uncertain environments. This approach is developed based on the optimal mass…
Runtime resource management for many-core systems is increasingly complex. The complexity can be due to diverse workload characteristics with conflicting demands, or limited shared resources such as memory bandwidth and power. Resource…
Vision Transformers achieve impressive accuracy across a range of visual recognition tasks. Unfortunately, their accuracy frequently comes with high computational costs. This is a particular issue in video recognition, where models are…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…
Physical human-robot interactions (pHRIs) can improve robot autonomy and reduce physical demands on humans. In this paper, we consider a collaborative task with a considerably long object and no prior knowledge of the object's parameters.…
In many applied optimization settings, parameters that define the constraints may not guarantee the best possible solution, and superior solutions might exist that are infeasible for the given parameter values. Removing such constraints,…
Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of…
Parameter-efficient adaptation of pretrained vision models is commonly performed through linear probes, prompts, low-rank updates, or lightweight residual modules. While effective, these methods usually treat adaptation as a discrete…
For industrial product design, it is very important to take into account assembly/disassembly and maintenance operations during the conceptual and prototype design stage. For these operations or other similar operations in a constrained…
A prior map serves as a foundational reference for localization in context-aware applications such as augmented reality (AR). Providing valuable contextual information about the environment, the prior map is a vital tool for mitigating…