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We present Gaussian Splatting Alignment (GSA), a novel method for aligning two independent 3D Gaussian Splatting (3DGS) models via a similarity transformation (rotation, translation, and scale), even when they are of different objects in…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
Learning from multiple sensors is challenging due to spatio-temporal misalignment and differences in resolution and captured spectra. To that end, we introduce GeoWATCH, a flexible framework for training models on long sequences of…
Symbiotic Autonomous Systems (SAS) are advanced intelligent and cognitive systems exhibiting autonomous collective intelligence enabled by coherent symbiosis of human-machine interactions in hybrid societies. Basic research in the emerging…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…
Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…
We present GeoManip, a framework to enable generalist robots to leverage essential conditions derived from object and part relationships, as geometric constraints, for robot manipulation. For example, cutting the carrot requires adhering to…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Real-life robot navigation involves more than just reaching a destination; it requires optimizing movements while addressing scenario-specific goals. An intuitive way for humans to express these goals is through abstract cues like verbal…
Many robotic platforms expose an API through which external software can command their actuators and read their sensors. However, transitioning from these low-level interfaces to high-level autonomous behaviour requires a complicated…
Self-attention (SA) network has shown profound value in image captioning. In this paper, we improve SA from two aspects to promote the performance of image captioning. First, we propose Normalized Self-Attention (NSA), a reparameterization…
Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the…
Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…
Sense of touch that allows robots to detect contact and measure interaction forces enables them to perform challenging tasks such as grasping fragile objects or using tools. Tactile sensors in theory can equip the robots with such…
Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…
Vision-Language-Action (VLA) models achieve strong generalization in robotic manipulation but remain largely reactive and 2D-centric, making them unreliable in tasks that require precise 3D reasoning. We propose GeoPredict, a geometry-aware…
The capability of a mobile robot to efficiently and safely perform complex missions is limited by its knowledge of the environment, namely the situation. Advanced reasoning, decision-making, and execution skills enable an intelligent agent…
Current invasive assistive technologies are designed to infer high-dimensional motor control signals from severely paralyzed patients. However, they face significant challenges, including public acceptance, limited longevity, and barriers…