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This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

Omnidirectional image (ODI) data is captured with a field-of-view of 360x180, which is much wider than the pinhole cameras and captures richer surrounding environment details than the conventional perspective images. In recent years, the…

The autonomous evolution of networked AI systems relies heavily on robust environmental perception. However, physical understanding remains brittle in current models because key physical signals are visually ambiguous and sparsely…

This paper proposes an efficient multi-camera to Bird's-Eye-View (BEV) view transformation method for 3D perception, dubbed MatrixVT. Existing view transformers either suffer from poor transformation efficiency or rely on device-specific…

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…

Multi-view multi-object tracking (MVMOT) has found widespread applications in intelligent transportation, surveillance systems, and urban management. However, existing studies rarely address genuinely free-viewpoint MVMOT systems, which…

For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots,…

In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…

Traveling at constant velocity is the most efficient trajectory for most robotics applications. Unfortunately without accelerometer excitation, monocular Visual-Inertial Odometry (VIO) cannot observe scale and suffers severe error drift.…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

In this paper, we present a room occupancy sensing solution with unique properties: (i) It is based on an omnidirectional vision camera, capturing rich scene info over a wide angle, enabling to count the number of people in a room and even…

Various quadruped robots have been developed to date, and thanks to reinforcement learning, they are now capable of traversing diverse types of rough terrain. In parallel, there is a growing trend of releasing these robot designs as…

Camera control, which achieves diverse visual effects by changing camera position and pose, has attracted widespread attention. However, existing methods face challenges such as complex interaction and limited control capabilities. To…

In human-centered environments such as restaurants, homes, and warehouses, robots often face challenges in accurately recognizing 3D objects. These challenges stem from the complexity and variability of these environments, including diverse…

Object-oriented embodied navigation aims to locate specific objects, defined by category or depicted in images. Existing methods often struggle to generalize to open vocabulary goals without extensive training data. While recent advances in…

Few-shot object detection has attracted increasing attention and rapidly progressed in recent years. However, the requirement of an exhaustive offline fine-tuning stage in existing methods is time-consuming and significantly hinders their…

This paper presents the utilization of advanced methodologies in aerial manipulation to address meaningful industrial applications and develop versatile ultrasonic Non-Destructive Testing (NDT) technologies with aerial robots. The primary…

The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…

One of the greatest challenges in the design of a real-time perception system for autonomous driving vehicles and drones is the conflicting requirement of safety (high prediction accuracy) and efficiency. Traditional approaches use a single…