Related papers: Exp[licit]-A Robot modeling Software based on Expo…
In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…
Service robots in the future need to execute abstract instructions such as "fetch the milk from the fridge". To translate such instructions into actionable plans, robots require in-depth background knowledge. With regards to interactions…
Selective segmentation is an important application of image processing. In contrast to global segmentation in which all objects are segmented, selective segmentation is used to isolate specific objects in an image and is of particular…
The method of moving frames (rep\`ere mobile) was used by Elie Cartan as a way of organizing the identification of differential invariants and solving equivalence problems. In this expository paper, we discuss how moving frames are used to…
Despite the great development of multirobot technologies, efficiently and collaboratively exploring an unknown environment is still a big challenge. In this paper, we propose AIM-Mapping, a Asymmetric InforMation Enhanced Mapping framework.…
We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable of handling objects different from training. Leveraging a Finite Element Method (FEM)-based simulator that…
The problem of finding a path between two points while avoiding obstacles is critical in robotic path planning. We focus on the feasibility problem: determining whether such a path exists. We model the robot as a query-specific rectangular…
Specifying tasks with videos is a powerful technique towards acquiring novel and general robot skills. However, reasoning over mechanics and dexterous interactions can make it challenging to scale learning contact-rich manipulation. In this…
Differentiable rendering has gained significant attention in the field of robotics, with differentiable robot rendering emerging as an effective paradigm for learning robotic actions from image-space supervision. However, the lack of…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…
In this paper, gradient-based optimization methods are combined with finite-element modeling for improving electric devices. Geometric design parameters are considered by affine decomposition of the geometry or by the design element…
The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Dynamic patterns are characterized by complex spatial and motion patterns. Understanding dynamic patterns requires a disentangled representational model that separates the factorial components. A commonly used model for dynamic patterns is…
Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…
Data-driven models of robot motion constructed using principles from Geometric Mechanics have been shown to produce useful predictions of robot motion for a variety of robots. For robots with a useful number of DoF, these geometric…
Understanding the computational power of mobile robot systems is a fundamental challenge in distributed computing. While prior work has focused on pairwise separations between models, we explore how robot capabilities, light observability,…
There is a growing need for computational tools to automatically design and verify autonomous systems, especially complex robotic systems involving perception, planning, control, and hardware in the autonomy stack. Differentiable…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…