Related papers: Multi-threaded Recast-Based A* Pathfinding for Sca…
In fast-paced, ever-changing environments, dynamic Motion Planning for Multi-Agent Systems in the presence of obstacles is a universal and unsolved problem. Be it from path planning around obstacles to the movement of robotic arms, or in…
Multi-agent path finding (MAPF) is the problem of moving agents to the goal vertex without collision. In the online MAPF problem, new agents may be added to the environment at any time, and the current agents have no information about…
Multi Agent Path Finding (MAPF) seeks the optimal set of paths for multiple agents from respective start to goal locations such that no paths conflict. We address the MAPF problem for a fleet of hybrid-fuel unmanned aerial vehicles which…
Tracking in gigapixel scenarios holds numerous potential applications in video surveillance and pedestrian analysis. Existing algorithms attempt to perform tracking in crowded scenes by utilizing multiple cameras or group relationships.…
To track the target in a video, current visual trackers usually adopt greedy search for target object localization in each frame, that is, the candidate region with the maximum response score will be selected as the tracking result of each…
Distributed Multi-Agent Path Finding (MAPF) integrated with Multi-Agent Reinforcement Learning (MARL) has emerged as a prominent research focus, enabling real-time cooperative decision-making in partially observable environments through…
Generative Adversarial Networks are notoriously challenging to train. The underlying minmax optimization is highly susceptible to the variance of the stochastic gradient and the rotational component of the associated game vector field. To…
Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…
The integration of geometric reconstruction and generative modeling remains a critical challenge in developing AI systems capable of human-like spatial reasoning. This paper proposes Aether, a unified framework that enables geometry-aware…
Graph-based Retrieval-Augmented Generation (GraphRAG) frameworks face a trade-off between the comprehensiveness of global search and the efficiency of local search. Existing methods are often challenged by navigating large-scale…
Hierarchical decision-making is a natural paradigm for coordinating multi-agent systems in complex environments such as air traffic management. In this paper, we present a bilevel framework for game-theoretic hierarchical routing, where a…
In video games, non-player characters (NPCs) are used to enhance the players' experience in a variety of ways, e.g., as enemies, allies, or innocent bystanders. A crucial component of NPCs is navigation, which allows them to move from one…
We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…
Modern networks generate vast, heterogeneous traffic that must be continuously analyzed for security and performance. Traditional network traffic analysis systems, whether rule-based or machine learning-driven, often suffer from high false…
Heuristic search algorithms, e.g. A*, are the commonly used tools for pathfinding on grids, i.e. graphs of regular structure that are widely employed to represent environments in robotics, video games etc. Instance-independent heuristics…
Photorealistic rendering effects are common in films, but most real time graphics today still rely on scan-line based multi-pass rendering to deliver rich visual experiences. While there have been prior works in distributed path tracing for…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
Deploying multi-robot systems in environments shared with dynamic and uncontrollable agents presents significant challenges, especially for large robot fleets. In such environments, individual robot operations can be delayed due to…
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are motivated by off-road autonomy, where real-time planning is…
Recently, interactive digital human video generation has attracted widespread attention and achieved remarkable progress. However, building such a practical system that can interact with diverse input signals in real time remains…