Related papers: MARS: Multimodal Active Robotic Sensing for Articu…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
This work aims at a challenging task: human action-reaction synthesis, i.e., generating human reactions conditioned on the action sequence of another person. Currently, autoregressive modeling approaches with vector quantization (VQ) have…
Unmanned Aerial Vehicles (UAVs) rely on measurements from Inertial Measurement Units (IMUs) to maintain stable flight. However, IMUs are susceptible to physical attacks, including acoustic resonant and electromagnetic interference attacks,…
Integrated sensing and communication (ISAC) has emerged as a transformative technology for 6G networks, enabling the seamless integration of communication and sensing functionalities. Reconfigurable intelligent surfaces (RIS), with their…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
The concept of augmented reality (AR) assistants has captured the human imagination for decades, becoming a staple of modern science fiction. To pursue this goal, it is necessary to develop artificial intelligence (AI)-based methods that…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
From dishwashers to cabinets, humans interact with articulated objects every day, and for a robot to assist in common manipulation tasks, it must learn a representation of articulation. Recent deep learning learning methods can provide…
Human activity recognition (HAR) is fundamental in human-robot collaboration (HRC), enabling robots to respond to and dynamically adapt to human intentions. This paper introduces a HAR system combining a modular data glove equipped with…
This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…
Effectively summarizing dense 3D point cloud data and extracting motion information of moving objects (moving object segmentation, MOS) is crucial to autonomous driving and robotics applications. How to effectively utilize motion and…
Persistent monitoring of dynamic targets is essential in real-world applications such as disaster response, environmental sensing, and wildlife conservation, where mobile agents must continuously gather information under uncertainty. We…
Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
Fine-tuning Multimodal Large Language Models (MLLMs) with parameter-efficient methods like Low-Rank Adaptation (LoRA) is crucial for task adaptation. However, imbalanced training dynamics across modalities often lead to suboptimal accuracy…
Developing socially competent robots requires tight integration of robotics, computer vision, speech processing, and web technologies. We present the Socially-interactive Robot Software platform (SROS), an open-source framework addressing…
Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…