Related papers: Language-Conditioned Safe Trajectory Generation fo…
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…
Large language models have enabled automated algorithm design (AAD) by generating optimization algorithms directly from natural-language prompts. While evolutionary frameworks such as LLaMEA demonstrate strong exploratory capabilities…
In this paper, we propose a novel cascaded diffusion-based generative framework for text-driven human motion synthesis, which exploits a strategy named GradUally Enriching SyntheSis (GUESS as its abbreviation). The strategy sets up…
Recent advancements in generative AI have made text-guided image inpainting - adding, removing, or altering image regions using textual prompts - widely accessible. However, generating semantically correct photorealistic imagery, typically…
To cooperate with humans effectively, virtual agents need to be able to understand and execute language instructions. A typical setup to achieve this is with a scripted teacher which guides a virtual agent using language instructions.…
The effective communication of procedural knowledge remains a significant challenge in natural language processing (NLP), as purely textual instructions often fail to convey complex physical actions and spatial relationships. We address…
Virtual Super-resolution Optics with Reconfigurable Swarms (VISORS) is a distributed telescope mission for high-resolution imaging of the Sun using two 6U CubeSats flying in formation in a Sun-synchronous low-Earth orbit. An optics…
While Multimodal Large Language Models have achieved human-like performance on many visual and textual reasoning tasks, their proficiency in fine-grained spatial understanding, such as route tracing on maps remains limited. Unlike humans,…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
Spoken dialogue systems often rely on cascaded pipelines that transcribe, process, and resynthesize speech. While effective, this design discards paralinguistic cues and limits expressivity. Recent end-to-end methods reduce latency and…
The increasing prevalence of Large Language Models (LMs) in critical applications highlights the need for controlled language generation strategies that are not only computationally efficient but that also enjoy performance guarantees. To…
Generating realistic and diverse trajectories is a critical challenge in autonomous driving simulation. While Large Language Models (LLMs) show promise, existing methods often rely on structured data like vectorized maps, which fail to…
A novel trajectory design methodology is proposed in the current work to minimize the state uncertainty in the crucial mission of spacecraft rendezvous. The trajectory is shaped under constraints utilizing a multiple-impulse approach. State…
Training robots in simulation requires diverse 3D scenes that reflect the specific challenges of downstream tasks. However, scenes that satisfy strict task requirements, such as high-clutter environments with plausible spatial arrangement,…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
Text-driven motion generation offers a powerful and intuitive way to create human movements directly from natural language. By removing the need for predefined motion inputs, it provides a flexible and accessible approach to controlling…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
Synthesizing text-driven 3D human motion within realistic scenes requires learning both semantic intent ("walk to the couch") and physical feasibility (e.g., avoiding collisions). Current methods use generative frameworks that…
Generating realistic human mobility data is essential for various application domains, including transportation, urban planning, and epidemic control, as real data is often inaccessible to researchers due to high costs and privacy concerns.…