Related papers: Offload or Overload: A Platform Measurement Study …
The area coverage problem is the task of efficiently servicing a given two-dimensional surface using sensors mounted on robots such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). We present a novel formulation for…
Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…
With the emergence of compute-intensive and delay-sensitive applications in vehicular networks, unmanned aerial vehicles (UAVs) have emerged as a promising complement for vehicular edge computing due to the high mobility and flexible…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Deploying Machine Learning (ML) applications on resource-constrained mobile devices remains challenging due to limited computational resources and poor platform compatibility. While Mobile Edge Computing (MEC) offers offloading-based…
Learning policies from previously recorded data is a promising direction for real-world robotics tasks, as online learning is often infeasible. Dexterous manipulation in particular remains an open problem in its general form. The…
With the rapid advancement of Intelligent Transportation Systems (ITS) and vehicular communications, Vehicular Edge Computing (VEC) is emerging as a promising technology to support low-latency ITS applications and services. In this paper,…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying learning-based systems is scale: acquiring enough data for the robot to effectively…
The rapid growth of end-user AI applications, such as computer vision and generative AI, has led to immense data and processing demands often exceeding user devices' capabilities. Edge AI addresses this by offloading computation to the…
We introduce UMI-on-Legs, a new framework that combines real-world and simulation data for quadruped manipulation systems. We scale task-centric data collection in the real world using a hand-held gripper (UMI), providing a cheap way to…
Mobile edge computing (MEC) is a new paradigm that provides cloud computing services at the edge of networks. To achieve better performance with limited computing resources, peer offloading between cooperative edge servers (e.g. MEC-…
We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
The task offloading technology plays a vital role in the Internet of Vehicles (IoV), by satisfying the diversified demands of the vehicles, such as the energy consumption and processing latency of the computing task. Different from the…
Advances in space exploration have led to an explosion of tasks. Conventionally, these tasks are offloaded to ground servers for enhanced computing capability, or to adjacent low-earth-orbit satellites for reduced transmission delay.…