Related papers: Robotic Inspection and Characterization of Subsurf…
Autonomous inspection tasks necessitate path-planning algorithms to efficiently gather observations from points of interest (POI). However, localization errors commonly encountered in urban environments can introduce execution uncertainty,…
In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance…
Dense depth recovery is crucial in autonomous driving, serving as a foundational element for obstacle avoidance, 3D object detection, and local path planning. Adverse weather conditions, including haze, dust, rain, snow, and darkness,…
It is widely accepted that optimization of imaging system performance should be guided by task-based measures of image quality (IQ). It has been advocated that imaging hardware or data-acquisition designs should be optimized by use of an…
Conventional wheeled robots are unable to traverse scientifically interesting, but dangerous, cave environments. Multi-limbed climbing robot designs, such as ReachBot, are able to grasp irregular surface features and execute climbing…
This paper investigates an intelligent reflecting surface (IRS) aided millimeter-wave integrated sensing and communication (ISAC) system. Specifically, based on the passive beam scanning in the downlink, the IRS finds the optimal beam for…
Reinforcement learning (RL) for robot control typically requires a detailed representation of the environment state, including information about task-relevant objects not directly measurable. Keypoint detectors, such as spatial autoencoders…
This work gives a blind beamforming strategy for intelligent reflecting surface (IRS), aiming to boost the received signal-to-noise ratio (SNR) by coordinating phase shifts across reflective elements in the absence of channel information.…
We present a multi-modal classification framework that fuses satellite and street-level imagery through a Perceiver IO architecture operating on spatial patch tokens from a shared DINOv2 backbone. The design naturally handles a variable…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…
This article introduces a new nonparametric method for estimating a univariate regression function of bounded variation. The method exploits the Jordan decomposition which states that a function of bounded variation can be decomposed as the…
This letter investigates the robust beamforming design for a near-field secure integrated sensing and communication (ISAC) system with multiple communication users (CUs) and targets, as well as multiple eavesdroppers. Taking into account…
Inspection of insulators is important to ensure reliable operation of the power system. Deep learning is being increasingly exploited to automate the inspection process by leveraging object detection models to analyse aerial images captured…
Integrated sensing and communication (ISAC) has emerged as a transformative technology for 6G networks, enabling the seamless integration of communication and sensing functionalities. Reconfigurable intelligent surfaces (RIS), with their…
The geosynchronous (GSO) debris environment is continually evolving. Regular monitoring of the region is consequently of great importance, though the trade-off between coverage and sensitivity makes this challenging for the population of…
SUMMARY Geophysical imaging using the inversion procedure is a powerful tool for the exploration of the Earth's subsurface. However, the interpretation of inverted images can sometimes be difficult, due to the inherent limitations of…
In this paper we propose a robotic system for Irrigation Water Management (IWM) in a structured robotic greenhouse environment. A commercially available robotic manipulator is equipped with an RGB-D camera and a soil moisture sensor. The…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…