Related papers: UniPilot: Enabling GPS-Denied Autonomy Across Embo…
The ability to associate touch with other modalities has huge implications for humans and computational systems. However, multimodal learning with touch remains challenging due to the expensive data collection process and non-standardized…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
In this paper, we draw inspiration from Alberto Elfes' pioneering work in 1989, where he introduced the concept of the occupancy grid as World Models for robots. We imbue the robot with a spatial-temporal world model, termed UniWorld, to…
End-to-end (E2E) driving has become a cornerstone of both industry deployment and academic research, offering a single learnable pipeline that maps multi-sensor inputs to actions while avoiding hand-engineered modules. However, the…
This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…
End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…
This paper introduces an advanced AI-driven perception system for autonomous quadcopter navigation in GPS-denied indoor environments. The proposed framework leverages cloud computing to offload computationally intensive tasks and…
Enhancing the spatial perception capabilities of mobile robots is crucial for achieving embodied Vision-and-Language Navigation (VLN). Although significant progress has been made in simulated environments, directly transferring these…
The navigation system is at the heart of any mobile robot it comprises of SLAM and path planning units, which is utilized by the robot to generate a map of the environment, localize itself within it and determine an optimal a path to the…
Quadrotors are agile. Unlike most other machines, they can traverse extremely complex environments at high speeds. To date, only expert human pilots have been able to fully exploit their capabilities. Autonomous operation with on-board…
Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…
We introduce UFO, a modular aerial robotic platform for transforming a rigid object into a multirotor robot. To achieve this, we develop flight modules, in the form of a control module and propelling modules, that can be affixed to an…
Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadrupeds to navigate without a predefined map a priori, they…
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
Deploying learning-based controllers across heterogeneous robots is challenging due to platform differences, inconsistent interfaces, and inefficient middleware. To address these issues, we present UniCon, a lightweight framework that…
Deep Reinforcement Learning techniques are achieving state-of-the-art results in robust legged locomotion. While there exists a wide variety of legged platforms such as quadruped, humanoids, and hexapods, the field is still missing a single…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Existing navigation methods are primarily designed for specific robot embodiments, limiting their generalizability across diverse robot platforms. In this paper, we introduce X-Nav, a novel framework for end-to-end cross-embodiment…
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals…
In radar systems, unimodular (or constant-modulus) waveform design plays an important role in achieving better clutter/interference rejection, as well as a more accurate estimation of the target parameters. The design of such sequences has…