Related papers: A Unified Framework for Probabilistic Dynamic-, Tr…
In this work, we introduce panoramic panoptic segmentation as the most holistic scene understanding both in terms of field of view and image level understanding for standard camera based input. A complete surrounding understanding provides…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Bipedal humanoid robots must precisely coordinate balance, timing, and contact decisions when locomoting on constrained footholds such as stepping stones, beams, and planks -- even minor errors can lead to catastrophic failure. Classical…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Simultaneous localization and mapping (SLAM) in slowly varying scenes is important for long-term robot task completion. Failing to detect scene changes may lead to inaccurate maps and, ultimately, lost robots. Classical SLAM algorithms…
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Predicting future frames of a video sequence has been a problem of high interest in the field of Computer Vision as it caters to a multitude of applications. The ability to predict, anticipate and reason about future events is the essence…
In many applications, robots autonomous deployment is preferable and sometimes it is the only affordable solution. To address this issue, virtual force (VF) is one of the prominent approaches to performing multirobot deployment…
Multimodal foundation models offer a promising framework for robotic perception and planning by processing sensory inputs to generate actionable plans. However, addressing uncertainty in both perception (sensory interpretation) and…
Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
This paper proposes a neuro-adaptive distributive cooperative tracking control with prescribed performance function (PPF) for highly nonlinear multi-agent systems. PPF allows error tracking from a predefined large set to be trapped into a…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
With the development of autonomous driving, it is becoming increasingly common for autonomous vehicles (AVs) and human-driven vehicles (HVs) to travel on the same roads. Existing single-vehicle planning algorithms on board struggle to…
Real-time synthesis of physically plausible human interactions remains a critical challenge for immersive VR/AR systems and humanoid robotics. While existing methods demonstrate progress in kinematic motion generation, they often fail to…
Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…
Robust control of complex engineered and biological systems hinges on the integration of feedforward and feedback mechanisms. This is exemplified in neural motor control, where feedforward muscle co-contraction complements sensory-driven…