Related papers: Mechanical Automation with Vision: A Design for Ru…

Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…

A critical task for developing safe autonomous driving stacks is to determine whether an obstacle is safety-critical, i.e., poses an imminent threat to the autonomous vehicle. Our previous work showed that Hamilton Jacobi reachability…

Common Object Request Broker Architecture (CORBA) based control system has been utilized for the first phase of RIKEN-RI Beam Factory (RIBF) [1] at the developing stage. Software sharing with Jozef Stefan Institute (JSI) in Slovenia via…

We propose a concise approximate description, and a method for efficiently obtaining this description, via adaptive random sampling of the performance (running time, memory consumption, or any other profileable numerical quantity) of a…

This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…

We present RUBIX, a fully tested, well-documented, and modular Open Source tool developed in JAX, designed to forward model IFU cubes of galaxies from cosmological hydrodynamical simulations. The code automatically parallelizes computations…

We study frugal splitting algorithms with minimal lifting for solving monotone inclusion problems involving sums of maximal monotone and cocoercive operators. Building on a foundational result by Ryu, we fully characterize all methods that…

This paper focuses on YOLO-LITE, a real-time object detection model developed to run on portable devices such as a laptop or cellphone lacking a Graphics Processing Unit (GPU). The model was first trained on the PASCAL VOC dataset then on…

Detecting small objects in video streams of head-worn augmented reality devices in near real-time is a huge challenge: training data is typically scarce, the input video stream can be of limited quality, and small objects are notoriously…

A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…

This paper addresses a Multi-Agent Collective Construction (MACC) problem that aims to build a three-dimensional structure comprised of cubic blocks. We use cube-shaped robots that can carry one cubic block at a time, and move forward,…

With the increasing of computer capabilities, Computer aided ergonomics (CAE) offers new possibilities to integrate conventional ergonomic knowledge and to develop new methods into the work design process. As mentioned in [1], different…

We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…

We present a 3D stylization algorithm that can turn an input shape into the style of a cube while maintaining the content of the original shape. The key insight is that cubic style sculptures can be captured by the as-rigid-as-possible…

To enable safe autonomous vehicle (AV) operations, it is critical that an AV's obstacle detection module can reliably detect obstacles that pose a safety threat (i.e., are safety-critical). It is therefore desirable that the evaluation…

We propose a dynamic computational time model to accelerate the average processing time for recurrent visual attention (RAM). Rather than attention with a fixed number of steps for each input image, the model learns to decide when to stop…

In this work, we propose a computationally efficient algorithm for visual policy learning that leverages differentiable simulation and first-order analytical policy gradients. Our approach decouple the rendering process from the computation…

Robotic manipulation requires accurate perception of the environment, which poses a significant challenge due to its inherent complexity and constantly changing nature. In this context, RGB image and point-cloud observations are two…

Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…