Related papers: CDM: Contact Diffusion Model for Multi-Contact Poi…
Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…
Natural and expressive human motion generation is the holy grail of computer animation. It is a challenging task, due to the diversity of possible motion, human perceptual sensitivity to it, and the difficulty of accurately describing it.…
Multi-turn compositional image generation (M-CIG) is a challenging task that aims to iteratively manipulate a reference image given a modification text. While most of the existing methods for M-CIG are based on generative adversarial…
Image classification is a well-studied task in computer vision, and yet it remains challenging under high-uncertainty conditions, such as when input images are corrupted or training data are limited. Conventional classification approaches…
Control techniques like MPC can realize contact-rich manipulation which exploits dynamic information, maintaining friction limits and safety constraints. However, contact geometry and dynamics are required to be known. This information is…
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Decentralized cooperative localization (DCL) is a promising approach for nonholonomic mobile robots operating in GPS-denied environments with limited communication infrastructure. This paper presents a DCL framework in which each robot…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Remote sensing image change description represents an innovative multimodal task within the realm of remote sensing processing.This task not only facilitates the detection of alterations in surface conditions, but also provides…
Diffusion models (DM) can gradually learn to remove noise, which have been widely used in artificial intelligence generated content (AIGC) in recent years. The property of DM for removing noise leads us to wonder whether DM can be applied…
Multi-view diffusion models have recently emerged as a powerful paradigm for novel view synthesis, yet the underlying mechanism that enables their view-consistency remains unclear. In this work, we first verify that the attention maps of…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Diffusion models have achieved significant success in both natural image and medical image domains, encompassing a wide range of applications. Previous investigations in medical images have often been constrained to specific anatomical…
In this paper, we propose an algorithm that estimates contact point and force simultaneously. We consider a collaborative robot equipped with proprioceptive sensors, in particular, joint torque sensors (JTSs) and a base force/torque (F/T)…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
Change detection (CD) is fundamental to computer vision and remote sensing, supporting applications in environmental monitoring, disaster response, and urban development. Most CD models assume co-registered inputs, yet real-world imagery…
A non-vector-based dissimilarity measure is proposed by combining vector-based distance metrics and set operations. This proposed compound dissimilarity measure (CDM) is applicable to quantify similarity of collections of attribute/feature…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…