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Learning goal conditioned control in the real world is a challenging open problem in robotics. Reinforcement learning systems have the potential to learn autonomously via trial-and-error, but in practice the costs of manual reward design,…
Dynamic quadrupedal locomotion over rough terrains reveals remarkable progress over the last few decades. Small-scale quadruped robots are adequately flexible and adaptable to traverse uneven terrains along sagittal direction, such as…
Achieving human-level speed and performance on real world tasks is a north star for the robotics research community. This work takes a step towards that goal and presents the first learned robot agent that reaches amateur human-level…
Precision experiments, such as the search for electric dipole moments of charged particles using storage rings, demand for an understanding of the spin dynamics with unprecedented accuracy. The ultimate aim is to measure the electric dipole…
Direction-of-arrival (DOA) estimation refers to the process of retrieving the direction information of several electromagnetic waves/sources from the outputs of a number of receiving antennas that form a sensor array. DOA estimation is a…
Sports video analysis is a prevalent research topic due to the variety of application areas, ranging from multimedia intelligent devices with user-tailored digests up to analysis of athletes' performance. The Sports Video task is part of…
Measuring the stellar position angle provides valuable information on binary stellar formation or stellar spin axis evolution. We aim to develop a method for determining the absolute stellar position angle using spectro-astrometric analysis…
The goals of this paper are to obtain theoretical models of what happens when a computer calculates the rotation set of a homeomorphism, and to find a good algorithm to perform simulations of this rotation set. To do that we introduce the…
Positioning is a prominent field of study, notably focusing on Visual Inertial Odometry (VIO) and Simultaneous Localization and Mapping (SLAM) methods. Despite their advancements, these methods often encounter dead-reckoning errors that…
Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…
Wearable technology has transformed sports analytics, offering new dimensions in enhancing player experience. Yet, many solutions involve cumbersome setups that inhibit natural motion. In tennis, existing products require sensors on the…
A novel method to identify trampoline skills using a single video camera is proposed herein. Conventional computer vision techniques are used for identification, estimation, and tracking of the gymnast's body in a video recording of the…
Ball trajectory data are one of the most fundamental and useful information in the evaluation of players' performance and analysis of game strategies. Although vision-based object tracking techniques have been developed to analyze sport…
Badminton, known for having the fastest ball speeds among all sports, presents significant challenges to the field of computer vision, including player identification, court line detection, shuttlecock trajectory tracking, and player…
In this paper we present DOT (Dynamic Object Tracking), a front-end that added to existing SLAM systems can significantly improve their robustness and accuracy in highly dynamic environments. DOT combines instance segmentation and…
In typical in-hand manipulation tasks represented by object pivoting, the real-time perception of rotational slippage has been proven beneficial for improving the dexterity and stability of robotic hands. An effective strategy is to obtain…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
The intrinsic fluctuations of electron spins in semiconductors and atomic vapors generate a small, randomly-varying "spin noise" that can be detected by sensitive optical methods such as Faraday rotation. Recent studies have demonstrated…