Related papers: ASPIRe: An Informative Trajectory Planner with Mut…
Bi-directional search is a widely used strategy to increase the success and convergence rates of sampling-based motion planning algorithms. Yet, few results are available that merge both bi-directional search and asymptotic optimality into…
Infrared small target detection (IRSTD) is crucial for surveillance and early-warning, with deployments spanning both single-frame analysis and video-mode tracking. A practical solution should leverage vision foundation models (VFMs) to…
Multimodal semantic cues, such as textual descriptions, have shown strong potential in enhancing target perception for tracking. However, existing methods rely on static textual descriptions from large language models, which lack…
The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique that uses adaptive input and state estimation (AISE) for…
This paper investigates the joint optimization of trajectory planning and resource allocation for a high-altitude platform stations synthetic aperture radar (HAPs-SAR) system. To support real-time sensing and conserve the limited energy…
Integrated information theory (IIT) is a theoretical framework that provides a quantitative measure to estimate when a physical system is conscious, its degree of consciousness, and the complexity of the qualia space that the system is…
Seismic travel time tomography is a geophysical imaging method to infer the 3-D interior structure of the solid Earth. Most commonly formulated as a linear(ized) inverse problem, it maps differences between observed and expected wave travel…
Adaptive sampling and planning in robotic environmental monitoring are challenging when the target environmental process varies over space and time. The underlying environmental dynamics require the planning module to integrate future…
Rapidly-exploring random trees (RRTs) are popular in motion planning because they find solutions efficiently to single-query problems. Optimal RRTs (RRT*s) extend RRTs to the problem of finding the optimal solution, but in doing so…
This paper presents a new multi-layered algorithm for motion planning under motion and sensing uncertainties for Linear Temporal Logic specifications. We propose a technique to guide a sampling-based search tree in the combined task and…
Optimal path planning is the problem of finding a valid sequence of states between a start and goal that optimizes an objective. Informed path planning algorithms order their search with problem-specific knowledge expressed as heuristics…
Adaptive information sampling approaches enable efficient selection of mobile robot's waypoints through which accurate sensing and mapping of a physical process, such as the radiation or field intensity, can be obtained. This paper analyzes…
Robotic information gathering (RIG) techniques refer to methods where mobile robots are used to acquire data about the physical environment with a suite of sensors. Informative planning is an important part of RIG where the goal is to find…
While Supervised Fine-Tuning (SFT) and Rejection Sampling Fine-Tuning (RFT) are standard for LLM alignment, they either rely on costly expert data or discard valuable negative samples, leading to data inefficiency. To address this, we…
Trajectories in human aimed movements are inherently variable. Using the concept of positional variance profiles, such trajectories are shown to be decomposable into two phases: In a first phase, the variance of the limb position over many…
Scientists often search for phenomena of interest while exploring new environments. Autonomous vehicles are deployed to explore such areas where human-operated vehicles would be costly or dangerous. Online control of autonomous vehicles for…
Text attribute person search aims to find specific pedestrians through given textual attributes, which is very meaningful in the scene of searching for designated pedestrians through witness descriptions. The key challenge is the…
Test-time compute scaling allocates inference computation uniformly, uses fixed sampling strategies, and applies verification only for reranking. In contrast, we propose a verifier-guided adaptive framework treating reasoning as iterative…
We interleave sampling based motion planning methods with pruning ideas from minimum spanning tree algorithms to develop a new approach for solving a Multi-Goal Path Finding (MGPF) problem in high dimensional spaces. The approach alternates…
Rapidly-exploring Random Tree Star(RRT*) is a recently proposed extension of Rapidly-exploring Random Tree (RRT) algorithm that provides a collision-free, asymptotically optimal path regardless of obstacle's geometry in a given environment.…