Related papers: Motion Comparator: Visual Comparison of Robot Moti…

Human bimanual manipulation can perform more complex tasks than a simple combination of two single arms, which is credited to the spatio-temporal coordination between the arms. However, the description of bimanual coordination is still an…

3D multi-person motion prediction is a challenging task that involves modeling individual behaviors and interactions between people. Despite the emergence of approaches for this task, comparing them is difficult due to the lack of…

Many robot planning tasks require satisfaction of one or more constraints throughout the entire trajectory. For geometric constraints, manifold-constrained motion planning algorithms are capable of planning collision-free path between start…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

We developed a machine vision system to automatically capture the dynamics of pedestrians under four different traffic scenarios. By considering the overhead view of each pedestrian as a digital object, the system processes the image…

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…

Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…

The present work investigates whether different quantification mechanisms (set comparison, vague quantification, and proportional estimation) can be jointly learned from visual scenes by a multi-task computational model. The motivation is…

Temporal alignment is an inherent task in most applications dealing with videos: action recognition, motion transfer, virtual trainers, rehabilitation, etc. In this paper we dive into the understanding of this task from a geometric point of…

Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…

With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…

Parallel application I/O performance often does not meet user expectations. Additionally, slight access pattern modifications may lead to significant changes in performance due to complex interactions between hardware and software. These…

Over the past decade, a wide range of motion planning approaches for autonomous vehicles has been developed to handle increasingly complex traffic scenarios. However, these approaches are rarely compared on standardized benchmarks, limiting…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…

Visual comparison is an important task in the analysis of multivariate graphs. However, comparison of topological features of a graph with respect to its data attributes for different portions of the data remains challenging because there…

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…

Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection…

In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-robot multi-goal path planning problems, where each robot has…