Related papers: ORICF -- Open Robotics Inference and Control Frame…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

In mixed autonomous driving environments, accurately predicting the future trajectories of surrounding vehicles is crucial for the safe operation of autonomous vehicles (AVs). In driving scenarios, a vehicle's trajectory is determined by…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…

Machine learning solutions are rapidly adopted to enable a variety of key use cases, from conversational AI assistants to scientific discovery. This growing adoption is expected to increase the associated lifecycle carbon footprint,…

Large Foundation Models (LFMs), including multi-modal and generative models, promise to unlock new capabilities for next-generation Edge AI applications. However, performing inference with LFMs in resource-constrained and heterogeneous edge…

Large Language Models (LLMs) have advanced rapidly in recent years, demonstrating strong capabilities in problem comprehension and reasoning. Inspired by these developments, researchers have begun exploring the use of LLMs as decentralized…

Single large language models (LLMs) often fall short when faced with the ever-growing range of tasks, making a single-model approach insufficient. We address this challenge by proposing ORI (O Routing Intelligence), a dynamic framework that…

Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have made significant advancements in reasoning capabilities. However, they still face challenges such as high computational demands and privacy concerns. This paper…

Large Language Models (LLMs) face challenges for on-device inference due to high memory demands. Traditional methods to reduce memory usage often compromise performance and lack adaptability. We propose FlexInfer, an optimized offloading…

This paper proposes an input convex neural network (ICNN)-Assisted optimal power flow (OPF) in distribution networks. Instead of relying purely on optimization or machine learning, the ICNN-Assisted OPF is a combination of optimization and…

Powerful foundation models, including large language models (LLMs), with Transformer architectures have ushered in a new era of Generative AI across various industries. Industry and research community have witnessed a large number of new…

With the advent of emerging IoT applications such as autonomous driving, digital-twin and metaverse etc. featuring massive data sensing, analyzing and inference as well critical latency in beyond 5G (B5G) networks, edge artificial…

The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…

Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…

Self-driving cars and autonomous vehicles are revolutionizing the automotive sector, shaping the future of mobility altogether. Although the integration of novel technologies such as Artificial Intelligence (AI) and Cloud/Edge computing…

Artificial intelligence (AI) holds significant promise for enhancing intraoperative perception and decision-making in telesurgery, where physical separation impairs sensory feedback and control. Despite advances in medical AI and surgical…

We present the OpenAI Remote Rendering Backend (ORRB), a system that allows fast and customizable rendering of robotics environments. It is based on the Unity3d game engine and interfaces with the MuJoCo physics simulation library. ORRB was…

This paper presents ORXE, a modular and adaptable framework for achieving real-time configurable efficiency in AI models. By leveraging a collection of pre-trained experts with diverse computational costs and performance levels, ORXE…