Related papers: MARS: Multimodal Active Robotic Sensing for Articu…

Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…

3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…

Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…

Object-centric representations have recently enabled significant progress in tackling relational reasoning tasks. By building a strong object-centric inductive bias into neural architectures, recent efforts have improved generalization and…

The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…

In the domain of intelligent transportation systems (ITS), collaborative perception has emerged as a promising approach to overcome the limitations of individual perception by enabling multiple agents to exchange information, thus enhancing…

Video amodal segmentation is a particularly challenging task in computer vision, which requires to deduce the full shape of an object from the visible parts of it. Recently, some studies have achieved promising performance by using motion…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

Optical sensing technologies are emerging technologies used in cancer surgeries to ensure the complete removal of cancerous tissue. While point-wise assessment has many potential applications, incorporating automated large area scanning…

Autonomous robots can benefit greatly from human-provided semantic characterizations of uncertain task environments and states. However, the development of integrated strategies which let robots model, communicate, and act on such 'soft…

Deep learning-based feature matching has shown great superiority for point cloud registration in the absence of pose priors. Although coarse-to-fine matching approaches are prevalent, the coarse matching of existing methods is typically…

We present ARTPS (Autonomous Rover Target Prioritization System), a novel hybrid AI system that combines depth estimation, anomaly detection, and learnable curiosity scoring for autonomous exploration of planetary surfaces. Our approach…

Multimodal representation learning has shown promising improvements on various vision-language tasks. Most existing methods excel at building global-level alignment between vision and language while lacking effective fine-grained image-text…

We tackle the challenge of concurrent reconstruction at the part level with the RGB appearance and estimation of motion parameters for building digital twins of articulated objects using the 3D Gaussian Splatting (3D-GS) method. With two…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Cooperative grasping and transportation require effective coordination to complete the task. This study focuses on the approach leveraging force-sensing feedback, where robots use sensors to detect forces applied by others on an object to…