Related papers: ParkingTwin: Training-Free Streaming 3D Reconstruc…
Accurate and safe robotic manipulation under dynamic and visually occluded conditions remains a core challenge in real-world deployment. We introduce SyncTwin, a novel digital twin framework that unifies fast 3D scene reconstruction and…
Streaming reconstruction from monocular image sequences remains challenging, as existing methods typically favor either high-quality rendering or accurate geometry, but rarely both. We present PLANING, an efficient on-the-fly reconstruction…
Digital Twin, as an emerging technology related to Cyber-Physical Systems (CPS) and Internet of Things (IoT), has attracted increasing attentions during the past decade. Conceptually, a Digital Twin is a digital replica of a physical entity…
Simulation frameworks have been key enablers for the development and validation of autonomous driving systems. However, existing methods struggle to comprehensively address the autonomy-oriented requirements of balancing: (i) dynamical…
Embodied AI training and evaluation require object-centric digital twin environments with accurate metric geometry and semantic grounding. Recent transformer-based feedforward reconstruction methods can efficiently predict global point…
In this paper, we present a novel digital twin prototype for a learning-enabled self-driving vehicle. The primary objective of this digital twin is to perform traffic sign recognition and lane keeping. The digital twin architecture relies…
Developing high-fidelity, interactive digital twins is crucial for enabling closed-loop motion planning and reliable real-world robot execution, which are essential to advancing sim-to-real transfer. However, existing approaches often…
Very recently, a variety of vision transformer architectures for dense prediction tasks have been proposed and they show that the design of spatial attention is critical to their success in these tasks. In this work, we revisit the design…
Stereo vision techniques have been widely used in civil engineering to acquire 3-D road data. The two important factors of stereo vision are accuracy and speed. However, it is very challenging to achieve both of them simultaneously and…
Creating a physical digital twin of a real-world object has immense potential in robotics, content creation, and XR. In this paper, we present PhysTwin, a novel framework that uses sparse videos of dynamic objects under interaction to…
Parking is a critical task for autonomous driving systems (ADS), with unique challenges in crowded parking slots and GPS-denied environments. However, existing works focus on 2D parking slot perception, mapping, and localization, 3D…
Digital twins of urban environments play a critical role in advancing autonomous vehicle (AV) research by enabling simulation, validation, and integration with emerging generative world models. While existing tools have demonstrated value,…
A digital twin is a surrogate model that has the main feature to mirror the original process behavior. Associating the dynamical process with a digital twin model of reduced complexity has the significant advantage to map the dynamics with…
Achieving highly dynamic humanoid parkour on unseen, complex terrains remains a challenge in robotics. Although general locomotion policies demonstrate capabilities across broad terrain distributions, they often struggle with arbitrary and…
Smart parking systems help reduce congestion and minimize users' search time, thereby contributing to smart city adoption and enhancing urban mobility. In previous works, we presented a system developed on a university campus to monitor…
Creating geometric digital twins (gDT) for as-built roads still faces many challenges, such as low automation level and accuracy, limited asset types and shapes, and reliance on engineering experience. A novel scan-to-building information…
Digital Twin technology creates virtual replicas of physical objects, processes, or systems by replicating their properties, data, and behaviors. This advanced technology offers a range of intelligent functionalities, such as modeling,…
A Mobility Digital Twin is an emerging implementation of digital twin technology in the transportation domain, which creates digital replicas for various physical mobility entities, such as vehicles, drivers, and pedestrians. Although a few…
The ability of the Network digital twin (NDT) to remain aware of changes in its physical counterpart, known as the physical twin (PTwin), is a fundamental condition to enable timely synchronization, also referred to as twinning. In this…
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe…