Related papers: GeoSACS: Geometric Shared Autonomy via Canal Surfa…
Modern autonomous vehicle simulators feature an ever-growing library of assets, including vehicles, buildings, roads, pedestrians, and more. While this level of customization proves beneficial when creating virtual urban environments, this…
Following the advent of NeRFs, 3D Gaussian Splatting (3D-GS) has paved the way to real-time neural rendering overcoming the computational burden of volumetric methods. Following the pioneering work of 3D-GS, several methods have attempted…
Autonomous surface vessels (ASV) represent a promising technology to automate water-quality monitoring of lakes. In this work, we use satellite images as a coarse map and plan sampling routes for the robot. However, inconsistency between…
In this paper we present a framework to learn skills from human demonstrations in the form of geometric nullspaces, which can be executed using a robot. We collect data of human demonstrations, fit geometric nullspaces to them, and also…
This article presents an overview of robot learning and adaptive control applications that can benefit from a joint use of Riemannian geometry and probabilistic representations. The roles of Riemannian manifolds, geodesics and parallel…
Open-vocabulary 3D scene understanding is crucial for applications requiring natural language-driven spatial interpretation, such as robotics and augmented reality. While 3D Gaussian Splatting (3DGS) offers a powerful representation for…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
Autonomous robots are projected to significantly augment the manual workforce, especially in repetitive and hazardous tasks. For a successful deployment of such robots in human environments, it is crucial to guarantee human safety.…
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…
Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…
3D Gaussian Splatting has emerged as an alternative 3D representation for novel view synthesis, benefiting from its high-quality rendering results and real-time rendering speed. However, the 3D Gaussians learned by 3D-GS have ambiguous…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
For robots to work alongside humans and perform in unstructured environments, they must learn new motion skills and adapt them to unseen situations on the fly. This demands learning models that capture relevant motion patterns, while…
This paper addresses distributed learning of a complex object for multiple networked robots based on distributed optimization and kernel-based support vector machine. In order to overcome a fundamental limitation of polynomial kernels…
Assistive robotic arms enable users with physical disabilities to perform everyday tasks without relying on a caregiver. Unfortunately, the very dexterity that makes these arms useful also makes them challenging to teleoperate: the robot…
Geospatial Artificial Intelligence (GeoAI) is an interdisciplinary field enjoying tremendous adoption. However, the efficient design and implementation of GeoAI systems face many open challenges. This is mainly due to the lack of…