相关论文: SINGULAB - A Graphical user Interface for the Sing…
Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…
Geometry is a fundamental part of robotics and there have been various frameworks of representation over the years. Recently, geometric algebra has gained attention for its property of unifying many of those previous ideas into one algebra.…
After briefly recalling some computational aspects of blowing up and of representation of resolution data common to a wide range of desingularization algorithms (in the general case as well as in special cases like surfaces or binomial…
Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present…
The computational cost of simulating quantum many-body systems can often be reduced by taking advantage of physical symmetries. While methods exist for specific symmetry classes, a general algorithm to find the full permutation symmetry…
In this work we propose a highly optimized version of a simulated annealing (SA) algorithm adapted to the more recently developed Graphic Processor Units (GPUs). The programming has been carried out with CUDA toolkit, specially designed for…
Environment perception is a crucial ability for robot's interaction into an environment. One of the first steps in this direction is the combined problem of simultaneous localization and mapping (SLAM). A new method, called G-SLAM, is…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
Simulation-based RL for contemporary robot control is increasingly organized around GPU-resident simulation: physics, rollout collection, and learning are placed on a single GPU-centric execution path. This paradigm has greatly improved…
There exists a bijection between the configuration space of a linear pentapod and all points $(u,v,w,p_x,p_y,p_z)\in\mathbb{R}^{6}$ located on the singular quadric $\Gamma: u^2+v^2+w^2=1$, where $(u,v,w)$ determines the orientation of the…
Multi-robot systems such as swarms of aerial robots are naturally suited to offer additional flexibility, resilience, and robustness in several tasks compared to a single robot by enabling cooperation among the agents. To enhance the…
Reinforcement learning for multi-goal robot manipulation tasks poses significant challenges due to the diversity and complexity of the goal space. Techniques such as Hindsight Experience Replay (HER) have been introduced to improve learning…
Geometric constraint systems underly popular Computer Aided Design soft- ware. Automated approaches for detecting dependencies in a design are critical for developing robust solvers and providing informative user feedback, and we provide…
Most LLM-driven GIS assistants solve narrow single-step tasks tightly coupled to proprietary platforms such as ArcGIS or QGIS, limiting their use for the multi-step, cross-format pipelines that define professional geospatial analysis. We…
Recently, large language models (LLMs) have shown strong potential in facilitating human-robotic interaction and collaboration. However, existing LLM-based systems often overlook the misalignment between human and robot perceptions, which…
In practice symmetries of combinatorial structures are computed by transforming the structure into an annotated graph whose automorphisms correspond exactly to the desired symmetries. An automorphism solver is then employed to compute the…
We introduce an open-source system called SIGMA (short for "Situated Interactive Guidance, Monitoring, and Assistance") as a platform for conducting research on task-assistive agents in mixed-reality scenarios. The system leverages the…
Ambiguity poses a major challenge to large language models (LLMs) used as robotic planners. In this letter, we present Scene Graph-Chain-of-Thought (SG-CoT), a two-stage framework where LLMs iteratively query a scene graph representation of…
One problem with researching cognitive modeling and reinforcement learning (RL) is that researchers spend too much time on setting up an appropriate computational framework for their experiments. Many open source implementations of current…