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Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…
Image compression technology eliminates redundant information to enable efficient transmission and storage of images, serving both machine vision and human visual perception. For years, image coding focused on human perception has been…
Generating 3D scenes from human motion sequences supports numerous applications, including virtual reality and architectural design. However, previous auto-regression-based human-aware 3D scene generation methods have struggled to…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…
Inspired by random walk on graphs, diffusion map (DM) is a class of unsupervised machine learning that offers automatic identification of low-dimensional data structure hidden in a high-dimensional dataset. In recent years, among its many…
Humanoid robots can benefit from their similarity to the human shape by learning from humans. When humans teach other humans how to perform actions, they often demonstrate the actions, and the learning human imitates the demonstration to…
Map makers have long searched for a way to construct cartograms -- maps in which the sizes of geographic regions such as countries or provinces appear in proportion to their population or some other analogous property. Such maps are…
Blindness and visual impairments affect many people worldwide. For help with navigation, people with visual impairments often rely on tactile maps that utilize raised surfaces and edges to convey information through touch. Although these…
One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…
The idea of cooperative perception is to benefit from shared perception data between multiple vehicles and overcome the limitations of on-board sensors on single vehicle. However, the fusion of multi-vehicle information is still challenging…
We propose a novel system for robot-to-human object handover that emulates human coworker interactions. Unlike most existing studies that focus primarily on grasping strategies and motion planning, our system focus on 1. inferring human…
Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…
In image-based camera localization systems, information about the environment is usually stored in some representation, which can be referred to as a map. Conventionally, most maps are built upon hand-crafted features. Recently, neural…
Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…
In this paper, we address the problem of autonomous multi-robot mapping, exploration and navigation in unknown, GPS-denied indoor or urban environments using a swarm of robots equipped with directional sensors with limited sensing…
Accurately and globally mapping human infrastructure is an important and challenging task with applications in routing, regulation compliance monitoring, and natural disaster response management etc.. In this paper we present progress in…