Related papers: SyncTwin: Fast Digital Twin Construction and Synch…
We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant…
3D reconstruction in large-scale scenes is a fundamental task in 3D perception, but the inherent trade-off between accuracy and computational efficiency remains a significant challenge. Existing methods either prioritize speed and produce…
Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS),…
The concept of creating a virtual copy of a complete Cyber-Physical System opens up numerous possibilities, including real-time assessments of the physical environment and continuous learning from the system to provide reliable and precise…
The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise…
Current Cyber-Physical Systems (CPS) integrated with Digital Twin (DT) technology face critical limitations in achieving real-time performance for mission-critical industrial applications. Existing 5G-enabled systems suffer from latencies…
In order to improve the task execution capability of home service robot, and to cope with the problem that purely physical robot platforms cannot sense the environment and make decisions online, a method for building digital twin system for…
Robot learning requires a considerable amount of high-quality data to realize the promise of generalization. However, large data sets are costly to collect in the real world. Physics simulators can cheaply generate vast data sets with broad…
Effective real-time monitoring is a foundation of digital twin technology, crucial for detecting material degradation and maintaining the structural integrity of nuclear systems to ensure both safety and operational efficiency. Traditional…
Nowadays, the increasing demand for maintaining high cleanliness standards in public spaces results in the search for innovative solutions. The deployment of CCTV systems equipped with modern cameras and software enables not only real-time…
Remote medical response systems are increasingly being deployed to support emergency care in disaster-affected and infrastructure-limited environments. Enabled by GeoVision capabilities, this paper presents a Digital Twin architecture for…
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in better software validation and larger amounts of data. Previous…
The real-time supervision of production processes is a common challenge across several industries. It targets process component monitoring and its predictive maintenance in order to ensure safety, uninterrupted production and maintain high…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
Digital Twin is an emerging technology at the forefront of Industry 4.0, with the ultimate goal of combining the physical space and the virtual space. To date, the Digital Twin concept has been applied in many engineering fields, providing…
This paper presents GSWorld, a robust, photo-realistic simulator for robotics manipulation that combines 3D Gaussian Splatting with physics engines. Our framework advocates "closing the loop" of developing manipulation policies with…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
Collaborative perception, fusing information from multiple agents, can extend perception range so as to improve perception performance. However, temporal asynchrony in real-world environments, caused by communication delays, clock…
In this paper, a digital twinning framework for indoor integrated sensing, communications, and robotics is proposed, designed, and implemented. Besides leveraging powerful robotics and ray-tracing technologies, the framework also enables…