Related papers: APREBot: Active Perception System for Reflexive Ev…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…
The rise of unmanned ``dark factories'' operating without human presence demands autonomous safety systems capable of detecting and responding to multiple hazard types. We present SafeGuard ASF (Agentic Security Fleet), a comprehensive…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Autonomous or teleoperated robots have been playing increasingly important roles in civil applications in recent years. Across the different civil domains where robots can support human operators, one of the areas where they can have more…
Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…
Autonomous mobile robots increasingly rely on LiDAR-IMU odometry for navigation and mapping, yet horizontally mounted LiDARs such as the MID360 capture few near-ground returns, limiting terrain awareness and degrading performance in…
Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
High speed navigation through unknown environments is a challenging problem in robotics. It requires fast computation and tight integration of all the subsystems on the robot such that the latency in the perception-action loop is as small…
Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…
Radar is a key component of the suite of perception sensors used for safe and reliable navigation of autonomous vehicles. Its unique capabilities include high-resolution velocity imaging, detection of agents in occlusion and over long…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured…
Active perception and manipulation are crucial for robots to interact with complex scenes. Existing methods struggle to unify semantic-driven active perception with robust, viewpoint-invariant execution. We propose SaPaVe, an end-to-end…
Autonomous vehicles (AVs) rely heavily on LiDAR (Light Detection and Ranging) systems for accurate perception and navigation, providing high-resolution 3D environmental data that is crucial for object detection and classification. However,…
Unmanned Aerial Vehicles (UAV) have been standing out due to the wide range of applications in which they can be used autonomously. However, they need intelligent systems capable of providing a greater understanding of what they perceive to…
Quadruped robots face limitations in long-range navigation efficiency due to their reliance on legs. To ameliorate the limitations, we introduce a Reinforcement Learning-based Active Transporter Riding method (\textit{RL-ATR}), inspired by…