相关论文: Plausible Mobility: Inferring Movement from Contac…

Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…

Inferring network topology from dynamical observations is a fundamental problem pervading research on complex systems. Here, we present a simple, direct method to infer the structural connection topology of a network, given an observation…

Imitation learning method has shown immense promise for robotic manipulation, yet its practical deployment is fundamentally constrained by the data scarcity. Despite prior work on collecting large-scale datasets, there still remains a…

This paper proposes a method to learn from human demonstration compliant contact motions, which take advantage of interaction forces between workpieces to align them, even when contact force may occur from different directions on different…

In an IEEE 802.11 Infrastructure network, as the mobile node is moving from one access point to another, the resource allocation and smooth hand off may be a problem. If some reliable prediction is done on mobile nodes next move, then…

Existing deep models predict 2D and 3D kinematic poses from video that are approximately accurate, but contain visible errors that violate physical constraints, such as feet penetrating the ground and bodies leaning at extreme angles. In…

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…

The tactile sensation of clothing is critical to wearer comfort. To reveal physical properties that make clothing comfortable, systematic collection of tactile data during sliding motion is required. We propose a robotic arm-based system…

The wide spread use of positioning and photographing devices gives rise to a deluge of traffic trajectory data (e.g., vehicle passage records and taxi trajectory data), with each record having at least three attributes: object ID, location…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

Inferring network topology from smooth signals is a significant problem in data science and engineering. A common challenge in real-world scenarios is the availability of only partially observed nodes. While some studies have considered…

The probabilistic graphs framework models the uncertainty inherent in real-world domains by means of probabilistic edges whose value quantifies the likelihood of the edge existence or the strength of the link it represents. The goal of this…

In this paper we study the optimal placement and optimal number of active relay nodes through the traffic density in mobile sensor ad-hoc networks. We consider a setting in which a set of mobile sensor sources is creating data and a set of…

Offloading traffic through opportunistic communications has been recently proposed as a way to relieve the current overload of cellular networks. Opportunistic communication can occur when mobile device users are (temporarily) in each…

In many real-world scenarios, it is nearly impossible to collect explicit social network data. In such cases, whole networks must be inferred from underlying observations. Here, we formulate the problem of inferring latent social networks…

Wearable devices are transforming computing and the human-computer interaction and they are a primary means for motion recognition of reflexive systems. We review basic wearable deployments and their open wireless communications. An…

The measurement called accessibility has been proposed as a means to quantify the efficiency of the communication between nodes in complex networks. This article reports important results regarding the properties of the accessibility,…

Robust aiding of inertial navigation systems in GNSS-denied environments is critical for the removal of accumulated navigation error caused by the drift and bias inherent in inertial sensors. One way to perform such an aiding uses matching…

A wide variety of sensor technologies are recently being adopted for traffic monitoring applications. Since most of these technologies rely on wired infrastructure, the installation and maintenance costs limit the deployment of the traffic…

Perception is often described as a predictive process based on an optimal inference with respect to a generative model. We study here the principled construction of a generative model specifically crafted to probe motion perception. In that…