Related papers: DVDP: An End-to-End Policy for Mobile Robot Visual…
Accurate and efficient modeling of agent interactions is essential for trajectory generation, the core of autonomous driving systems. Existing methods, scene-centric, agent-centric, and query-centric frameworks, each present distinct…
The vehicle routing problem with drones (VRP-D) is to determine the optimal routes of trucks and drones such that the total operational cost is minimized in a scenario where the trucks work in tandem with the drones to deliver parcels to…
Multi-robot navigation is a challenging task in which multiple robots must be coordinated simultaneously within dynamic environments. We apply deep reinforcement learning (DRL) to learn a decentralized end-to-end policy which maps raw…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
Conventional video compression approaches use the predictive coding architecture and encode the corresponding motion information and residual information. In this paper, taking advantage of both classical architecture in the conventional…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
GBPP is a fast learning based scorer that selects a robot base pose for grasping from a single RGB-D snapshot. The method uses a two stage curriculum: (1) a simple distance-visibility rule auto-labels a large dataset at low cost; and (2) a…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Video depth estimation is essential for providing 3D scene structure in applications ranging from autonomous driving to mixed reality. Current end-to-end video depth models have established state-of-the-art performance. Although current…
Service robots should be able to interact naturally with non-expert human users, not only to help them in various tasks but also to receive guidance in order to resolve ambiguities that might be present in the instruction. We consider the…
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…
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…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
Differential dynamic programming (DDP) is a direct single shooting method for trajectory optimization. Its efficiency derives from the exploitation of temporal structure (inherent to optimal control problems) and explicit…