Related papers: Oogway: Designing, Implementing, and Testing an AU…
Open-vocabulary semantic segmentation (OVSS) underpins many vision and robotics tasks that require generalizable semantic understanding. Existing approaches either rely on limited segmentation training data, which hinders generalization, or…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic…
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive…
3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…
Recent advances in robot-assisted surgery have resulted in progressively more precise, efficient, and minimally invasive procedures, sparking a new era of robotic surgical intervention. This enables doctors, in collaborative interaction…
It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
Many established vision perception systems for autonomous driving scenarios ignore the influence of light conditions, one of the key elements for driving safety. To address this problem, we present HawkDrive, a novel perception system with…
This paper presents the concepts of Artificial Intelligence, Multi-Agent-Systems, Coordination, Intelligent Robotics and Deep Reinforcement Learning. Emphasis is given on and how AI and DRL, may be efficiently used to create efficient robot…
Suckers are significant for robots in picking, transferring, manipulation and locomotion on diverse surfaces. However, most of the existing suckers lack high-fidelity perceptual and tactile sensing, which impedes them from resolving the…
In this paper we propose a number of tested ways in which a low-budget demo car could be made to navigate an indoor environment. Canny Edge Detection, Supervised Floor Detection and Imitation Learning were used separately and are contrasted…
We present the OpenAI Remote Rendering Backend (ORRB), a system that allows fast and customizable rendering of robotics environments. It is based on the Unity3d game engine and interfaces with the MuJoCo physics simulation library. ORRB was…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Physicians routinely assess respiratory sounds during the diagnostic process, providing insight into the condition of a patient's airways. In recent years, AI-based diagnostic systems operating on respiratory sounds, have demonstrated…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Multi-sensor fusion significantly enhances the accuracy and robustness of 3D semantic occupancy prediction, which is crucial for autonomous driving and robotics. However, most existing approaches depend on high-resolution images and complex…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…