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Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a…
Robotic manipulation of deformable objects remains a challenging task. One such task is to iron a piece of cloth autonomously. Given a roughly flattened cloth, the goal is to have an ironing plan that can iteratively apply a regular iron to…
Damage recovery is critical for autonomous robots that need to operate for a long time without assistance. Most current methods are complex and costly because they require anticipating each potential damage in order to have a contingency…
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…
A long-standing open challenge for automated program repair is the overfitting problem, which is caused by having insufficient or incomplete specifications to validate whether a generated patch is correct or not. Most available repair…
Point cloud surface reconstruction has improved in accuracy with advances in deep learning, enabling applications such as infrastructure inspection. Recent approaches that reconstruct from small local regions rather than entire point clouds…
Radar odometry estimation has emerged as a critical technique in the field of autonomous navigation, providing robust and reliable motion estimation under various environmental conditions. Despite its potential, the complex nature of radar…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
The perception of an Autonomous Driving System (ADS) critically depends on relevant, comprehensive, and diverse datasets to ensure its safety while operating in the environment. Field data collection lacks completeness with respect to the…
Climate change is one of the defining challenges of the 21st century, and many in the robotics community are looking for ways to contribute. This paper presents a roadmap for climate-relevant robotics research, identifying high-impact…
Over the past decade, automated methods have been developed to detect cracks more efficiently, accurately, and objectively, with the ultimate goal of replacing conventional manual visual inspection techniques. Among these methods, semantic…
Automating bone micro-milling using a robotic system presents challenges due to the uncertainties in both the external and internal features of bone tissue. For example, during mouse cranial window creation, a circular path with a radius of…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Inspection of cracks is an important process for properly monitoring and maintaining a building. However, manual crack inspection is time-consuming, inconsistent, and dangerous (e.g., in tall buildings). Due to the development of…
This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
Robotic mapping is useful in scientific applications that involve surveying unstructured environments. This paper presents a target-oriented mapping system for sparsely distributed geologic surface features, such as precariously balanced…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…
Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…