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Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…
Robot-assisted minimally invasive surgery has shown to improve patient outcomes, as well as reduce complications and recovery time for several clinical applications. While increasingly configurable robotic arms can maximize reach and avoid…
A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…
The automatic reconstruction of 3D computer-aided design (CAD) models from CAD sketches has recently gained significant attention in the computer vision community. Most existing methods, however, rely on vector CAD sketches and 3D ground…
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the world's largest single-dish radio telescope. Its large reflecting surface achieves unprecedented sensitivity but is prone to damage, such as dents and holes, caused by…
Surgical workflow anticipation is the task of predicting the timing of relevant surgical events from live video data, which is critical in Robotic-Assisted Surgery (RAS). Accurate predictions require the use of spatial information to model…
Ground penetrating radar (GPR) has become a rapid and non-destructive solution for road subsurface distress (RSD) detection. However, recognizing RSD from GPR images is labor-intensive and heavily relies on the expertise of inspectors. Deep…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
In the field of robotic manipulation, the proficiency of deformable object manipulation lags behind human capabilities due to the inherent characteristics of deformable objects. These objects have infinite degrees of freedom, resulting in…
The increasing demand for accelerated scientific discovery, driven by global challenges, highlights the need for advanced AI-driven robotics. Deploying robotic chemists in human-centric labs is key for the next horizon of autonomous…
Out-of-distribution states in robot manipulation often lead to unpredictable robot behavior or task failure, limiting success rates and increasing risk of damage. Anomaly detection (AD) can identify deviations from expected patterns in…
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
This paper addresses the fast replanning problem in dynamic environments with moving obstacles. Since for randomly moving obstacles the future states are unpredictable, the proposed method, called SMARRT, reacts to obstacle motions and…
This paper presents an open-loop articulated 6-degree-of-freedom (DoF) robotic system for three-dimensional (3D) scanning of objects by contact-based method. A digitizer probe was used to detect contact with the object. Inverse kinematics…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…