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Multimodal task specification is essential for enhanced robotic performance, where \textit{Cross-modality Alignment} enables the robot to holistically understand complex task instructions. Directly annotating multimodal instructions for…
Large Language Model (LLM)-based in-application assistants, or copilots, can automate software tasks, but users often prefer learning by doing, raising questions about the optimal level of automation for an effective user experience. We…
Developing reliable workload predictive models can affect many aspects of clinical decision making procedure. The primary challenge in healthcare systems is handling the demand uncertainty over the time. This issue becomes more critical for…
In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…
An elusive goal in navigation research is to build an intelligent agent that can understand multimodal instructions including natural language and image, and perform useful navigation. To achieve this, we study a widely useful category of…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
Multitask Learning is a Machine Learning paradigm that aims to train a range of (usually related) tasks with the help of a shared model. While the goal is often to improve the joint performance of all training tasks, another approach is to…
This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…
Vision-Language Models (VLMs) have recently shown remarkable progress in multimodal reasoning, yet their applications in autonomous driving remain limited. In particular, the ability to understand road topology, a key requirement for safe…
Adaptive intelligent educational systems are gaining popularity, offering personalized learning experiences to students based on their individual needs and styles. One crucial feature of such systems is real-time personalized feedback.…
Visual perspective-taking (VPT), the ability to understand the viewpoint of another person, enables individuals to anticipate the actions of other people. For instance, a driver can avoid accidents by assessing what pedestrians see. Humans…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
This paper studies the trajectory control and task offloading (TCTO) problem in an unmanned aerial vehicle (UAV)-assisted mobile edge computing system, where a UAV flies along a planned trajectory to collect computation tasks from smart…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
In the last decade, autonomous vertical take-off and landing (VTOL) vehicles have become increasingly important as they lower mission costs thanks to their re-usability. However, their development is complex, rendering even the basic…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
The rapid emergence of airborne platforms and imaging sensors are enabling new forms of aerial surveillance due to their unprecedented advantages in scale, mobility, deployment and covert observation capabilities. This paper provides a…