Related papers: Unified Control Framework for Real-Time Intercepti…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
We propose a new video camouflaged object detection (VCOD) framework that can exploit both short-term dynamics and long-term temporal consistency to detect camouflaged objects from video frames. An essential property of camouflaged objects…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
In Multiple Object Tracking, objects often exhibit non-linear motion of acceleration and deceleration, with irregular direction changes. Tacking-by-detection (TBD) trackers with Kalman Filter motion prediction work well in…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existing approaches remain limited in handling multiple types of…
This paper presents an efficient and safe method to avoid static and dynamic obstacles based on LiDAR. First, point cloud is used to generate a real-time local grid map for obstacle detection. Then, obstacles are clustered by DBSCAN…
The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
The strong demand of autonomous driving in the industry has lead to strong interest in 3D object detection and resulted in many excellent 3D object detection algorithms. However, the vast majority of algorithms only model single-frame data,…
Assigning consistent temporal identifiers to multiple moving objects in a video sequence is a challenging problem. A solution to that problem would have immediate ramifications in multiple object tracking and segmentation problems. We…
Existing approaches for controlling text-to-image diffusion models, while powerful, do not allow for explicit 3D object-centric control, such as precise control of object orientation. In this work, we address the problem of multi-object…
In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods such as radio frequency interference and GPS shielding may fail. This paper proposes a…
Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…
We present a conceptually simple, flexible, and universal visual perception head for variant visual tasks, e.g., classification, object detection, instance segmentation and pose estimation, and different frameworks, such as one-stage or…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…