Related papers: PathFormer: A Transformer with 3D Grid Constraints…
Video diffusion models provide powerful real-world simulators for embodied AI but remain limited in controllability for robotic manipulation. Recent works on trajectory-conditioned video generation address this gap but often rely on 2D…
Path planning is usually solved by addressing either the (high-level) route planning problem (waypoint sequencing to achieve the final goal) or the (low-level) path planning problem (trajectory prediction between two waypoints avoiding…
In many spatial trajectory-based applications, it is necessary to map raw trajectory data points onto road networks in digital maps, which is commonly referred to as a map-matching process. While most previous map-matching methods have…
Accurate machine-learning models for aerodynamic prediction are essential for accelerating shape optimization, yet remain challenging to develop for complex three-dimensional configurations due to the high cost of generating training data.…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Assistive robots offer agency to humans with severe motor impairments. Often, these users control high-DoF robots through low-dimensional interfaces, such as using a 1-D sip-and-puff interface to operate a 6-DoF robotic arm. This mismatch…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
Significant advancements have been achieved in the realm of understanding poses and interactions of two hands manipulating an object. The emergence of augmented reality (AR) and virtual reality (VR) technologies has heightened the demand…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While these approaches make more realistic motions possible, they are…
Transformers have proven highly effective across various applications, especially in handling sequential data such as natural languages and time series. However, transformer models often lack clear interpretability, and the success of…
We present a mask-piloted Transformer which improves masked-attention in Mask2Former for image segmentation. The improvement is based on our observation that Mask2Former suffers from inconsistent mask predictions between consecutive decoder…
Autonomous surveillance missions in Internet of Things (IoT) networks often involve solving NP-hard combinatorial optimization problems to ensure efficient resource utilization. To address the limitations of conventional heuristics in…
3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…
Path planning has long been one of the major research areas in robotics, with PRM and RRT being two of the most effective classes of planners. Though generally very efficient, these sampling-based planners can become computationally…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
By 2050, the global demand for assistive care is expected to reach 3.5 billion people, far outpacing the availability of human caregivers. Existing robotic solutions remain expensive and require technical expertise, limiting accessibility.…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to the need for accurate spatial reasoning, physical…