Related papers: Unified Control Framework for Real-Time Intercepti…
Unsupervised visual object tracking is a challenging task that requires following arbitrary targets in videos without training on ground-truth annotations. Despite considerable progress, existing state-of-the-art unsupervised trackers often…
Control barrier functions (CBFs) provide a simple yet effective way for safe control synthesis. Recently, work has been done using differentiable optimization (diffOpt) based methods to systematically construct CBFs for static obstacle…
Seamlessly moving objects within a scene is a common requirement for image editing, but it is still a challenge for existing editing methods. Especially for real-world images, the occlusion situation further increases the difficulty. The…
Persistent multi-object tracking (MOT) allows autonomous vehicles to navigate safely in highly dynamic environments. One of the well-known challenges in MOT is object occlusion when an object becomes unobservant for subsequent frames. The…
Real-time video analysis remains a challenging problem in computer vision, requiring efficient processing of both spatial and temporal information while maintaining computational efficiency. Existing approaches often struggle to balance…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…
Dexterous grasping of unseen objects in dynamic environments is an essential prerequisite for the advanced manipulation of autonomous robots. Prior advances rely on several assumptions that simplify the setup, including environment…
Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…
The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…
Detecting and grounding multi-modal media manipulation (DGM^4) has become increasingly crucial due to the widespread dissemination of face forgery and text misinformation. In this paper, we present the Unified Frequency-Assisted transFormer…
This research addresses the increasing demand for advanced navigation systems capable of operating within confined surroundings. A significant challenge in this field is developing an efficient planning framework that can generalize across…
Multi-object tracking (MOT) is a challenging vision task that aims to detect individual objects within a single frame and associate them across multiple frames. Recent MOT approaches can be categorized into two-stage tracking-by-detection…
Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…
Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…
The growing demand for robots to operate effectively in diverse environments necessitates the need for robust real-time anomaly detection techniques during robotic operations. However, deep learning-based models in robotics face significant…
Planning safe and efficient trajectories through signal-free intersections presents significant challenges for autonomous vehicles (AVs), particularly in dynamic, multi-task environments with unpredictable interactions and an increased…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…