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Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…

Using simulation to train robot manipulation policies holds the promise of an almost unlimited amount of training data, generated safely out of harm's way. One of the key challenges of using simulation, to date, has been to bridge the…

Reinforcement learning for training end-to-end autonomous driving models in closed-loop simulations is gaining growing attention. However, most simulation environments differ significantly from real-world conditions, creating a substantial…

Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…

For driver observation frameworks, clean datasets collected in controlled simulated environments often serve as the initial training ground. Yet, when deployed under real driving conditions, such simulator-trained models quickly face the…

The emergence of 6G wireless networks promises to revolutionize vehicular communications by enabling ultra-reliable, low-latency, and high-capacity data exchange. In this context, collaborative perception techniques, where multiple vehicles…

While significant advances have been made for single-agent perception, many applications require multiple sensing agents and cross-agent communication due to benefits such as coverage and robustness. It is therefore critical to develop…

For 3D object manipulation, methods that build an explicit 3D representation perform better than those relying only on camera images. But using explicit 3D representations like voxels comes at large computing cost, adversely affecting…

Vision Transformer (ViT) self-attention mechanism is characterized by feature collapse in deeper layers, resulting in the vanishing of low-level visual features. However, such features can be helpful to accurately represent and identify…

Vehicle-to-Vehicle (V2V) cooperative perception has great potential to enhance autonomous driving performance by overcoming perception limitations in complex adverse traffic scenarios (CATS). Meanwhile, data serves as the fundamental…

Despite the substantial progress in deep learning, its adoption in industrial robotics projects remains limited, primarily due to challenges in data acquisition and labeling. Previous sim2real approaches using domain randomization require…

Despite its clinical utility, medical image segmentation (MIS) remains a daunting task due to images' inherent complexity and variability. Vision transformers (ViTs) have recently emerged as a promising solution to improve MIS; however,…

Sim-to-real transfer remains a fundamental challenge in robot manipulation due to the entanglement of perception and control in end-to-end learning. We present a decoupled framework that learns each component where it is most reliable:…

Generating large-scale synthetic data in simulation is a feasible alternative to collecting/labelling real data for training vision-based deep learning models, albeit the modelling inaccuracies do not generalize to the physical world. In…

Deep learning has been widely used in the perception (e.g., 3D object detection) of intelligent vehicle driving. Due to the beneficial Vehicle-to-Vehicle (V2V) communication, the deep learning based features from other agents can be shared…

Temporal perception, defined as the capability to detect and track objects across temporal sequences, serves as a fundamental component in autonomous driving systems. While single-vehicle perception systems encounter limitations, stemming…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Multiagent reinforcement learning, as a prominent intelligent paradigm, enables collaborative decision-making within complex systems. However, existing approaches often rely on explicit action exchange between agents to evaluate action…

The research field of Embodied AI has witnessed substantial progress in visual navigation and exploration thanks to powerful simulating platforms and the availability of 3D data of indoor and photorealistic environments. These two factors…

Mixed Reality (MR) enables rich, embodied collaboration; however, it is uncertain whether sensor- and system-logged behavioral signals capture how users experience that collaboration. This disconnect stems from a fundamental gap. Behavioral…