Related papers: Memory-Efficient 2D/3D Shape Assembly of Robot Swa…
Neural representations for 3D meshes are emerging as an effective solution for compact storage and efficient processing. Existing methods often rely on neural overfitting, where a coarse mesh is stored and progressively refined through…
We aim to infer 3D shape and pose of object from a single image and propose a learning-based approach that can train from unstructured image collections, supervised by only segmentation outputs from off-the-shelf recognition systems (i.e.…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…
Convolutional neural networks are state-of-the-art for various segmentation tasks. While for 2D images these networks are also computationally efficient, 3D convolutions have huge storage requirements and require long training time. To…
As very large studies of complex neuroimaging phenotypes become more common, human quality assessment of MRI-derived data remains one of the last major bottlenecks. Few attempts have so far been made to address this issue with machine…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…
End-to-end learning of robot control policies, structured as neural networks, has emerged as a promising approach to robotic manipulation. To complete many common tasks, relevant objects are required to pass in and out of a robot's field of…
In comparison with existing approaches, which struggle with scalability, communication dependency, and robustness against dynamic failures, cooperative aerial transportation via robot swarms holds transformative potential for logistics and…
Shape priors have long been known to be effective when reconstructing 3D shapes from noisy or incomplete data. When using a deep-learning based shape representation, this often involves learning a latent representation, which can be either…
Swarms of drones offer an increased sensing aperture, and having them mimic behaviors of natural swarms enhances sampling by adapting the aperture to local conditions. We demonstrate that such an approach makes detecting and tracking…
Gen-Swarms is an innovative method that leverages and combines the capabilities of deep generative models with reactive navigation algorithms to automate the creation of drone shows. Advancements in deep generative models, particularly…
The subject is the localization problem of an underwater swarm of autonomous underwater robots (AUV), in the frame of the HARNESS project; by localization, we mean the relative swarm configuration, i.e., the geometrical shape of the group.…
We introduce a novel learning-based method for encoding and manipulating 3D surface meshes. Our method is specifically designed to create an interpretable embedding space for deformable shape collections. Unlike previous 3D mesh…
For a multi-user multiple-input multiple-output (MU-MIMO) wireless communication system, imagining that the locations of the users are now fully controllable, what is the maximum sum-capacity, and what are the corresponding optimal user…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
Mesh plays an indispensable role in dense real-time reconstruction essential in robotics. Efforts have been made to maintain flexible data structures for 3D data fusion, yet an efficient incremental framework specifically designed for…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…