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We propose GANav, a novel group-wise attention mechanism to identify safe and navigable regions in off-road terrains and unstructured environments from RGB images. Our approach classifies terrains based on their navigability levels using…
Image-goal navigation (ImageNav) tasks a robot with autonomously exploring an unknown environment and reaching a location that visually matches a given target image. While prior works primarily study ImageNav for ground robots, enabling…
Autonomous robots for endovascular interventions hold significant potential to enhance procedural safety and reliability by navigating guidewires with precision, minimizing human error, and reducing surgical time. However, existing methods…
Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…
In this study Arduino card based mobile robot design was realized. This robot can serve as a security robot, an auxiliary robot or a control robot. The designed robot has two operation modes. The first operating mode is autonomous mode. In…
Eye-GUIDE is an assistive communication tool designed for the paralyzed or physically impaired people who were unable to move parts of their bodies especially people whose communications are limited only to eye movements. The prototype…
We consider outdoor optical access points (OAPs), which, enabled by recent advances in metasurface technology, have attracted growing interest. While OAPs promise high data rates and strong physical-layer security, practical deployments…
The rapid growth of virtual reality (VR) has led to increased use of social VR platforms for interaction. However, these platforms lack adequate features to support blind and low vision (BLV) users, posing significant challenges in…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
Transforming sound insights into actionable streams of data, this abstract leverages findings from degree thesis research to enhance automotive system intelligence, enabling us to address road type [1].By extracting and interpreting…
We propose Hand-Eye Autonomous Delivery (HEAD), a framework that learns navigation, locomotion, and reaching skills for humanoids, directly from human motion and vision perception data. We take a modular approach where the high-level…
Pedestrian dynamics models have provided valuable insights into pedestrian interactions, collision avoidance, and self-organized crowd behavior using mathematical, computational, AI-based, and heuristic approaches. However, existing models…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…
Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen…
Self-recording eating behaviors is a step towards a healthy lifestyle recommended by many health professionals. However, the current practice of manually recording eating activities using paper records or smartphone apps is often…
Data-driven navigation algorithms are critically dependent on large-scale, high-quality real-world data collection for successful training and robust performance in realistic and uncontrolled conditions. To enhance the growing family of…
As a vital cognitive function of animals, the navigation skill is first built on the accurate perception of the directional heading in the environment. Head direction cells (HDCs), found in the limbic system of animals, are proven to play…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
Trajectory prediction module in an autonomous driving system is crucial for the decision-making and safety of the autonomous agent car and its surroundings. This work presents a novel scheme called AiGem (Agent-Interaction Graph Embedding)…