相关论文: The Manifold Particle Filter for State Estimation …

The problem of grasping objects using a multi-finger hand has received significant attention in recent years. However, it remains challenging to handle a large number of unfamiliar objects in real and cluttered environments. In this work,…

This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy Criterion Kalman Filtering (AMCCKF), is inherently robust…

We introduce a novel motion estimation method, MaskFlow, that is capable of estimating accurate motion fields, even in very challenging cases with small objects, large displacements and drastic appearance changes. In addition to lower-level…

Deep implicit functions (DIFs) have emerged as a potent and articulate means of representing 3D shapes. However, methods modeling object categories or non-rigid entities have mainly focused on single-object scenarios. In this work, we…

We propose PHRIT, a novel approach for parametric hand mesh modeling with an implicit template that combines the advantages of both parametric meshes and implicit representations. Our method represents deformable hand shapes using signed…

Learning object manipulation is a critical skill for robots to interact with their environment. Even though there has been significant progress in robotic manipulation of rigid objects, interacting with non-rigid objects remains challenging…

We compare three state-of-the-art proprioceptive state estimators for quadruped robots: MUSE [1], the Invariant Extended Kalman Filter (IEKF) [2], and the Invariant Smoother (IS) [3], on the CYN-1 sequence of the GrandTour Dataset [4]. Our…

This article examines state estimation in discrete-time nonlinear stochastic systems with finite-dimensional states and infinite-dimensional measurements, motivated by real-world applications such as vision-based localization and tracking.…

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…

Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…

We experimentally demonstrate a general criterion to identify entangled states useful for the estimation of an unknown phase shift with a sensitivity higher than the shot-noise limit. We show how to exploit this entanglement on the examples…

We present Pose-NDF, a continuous model for plausible human poses based on neural distance fields (NDFs). Pose or motion priors are important for generating realistic new poses and for reconstructing accurate poses from noisy or partial…

The implicit particle filter is a sequential Monte Carlo method for data assimilation that guides the particles to the high-probability regions via a sequence of steps that includes minimizations. We present a new and more general…

Modeling the hand-object (HO) interaction not only requires estimation of the HO pose, but also pays attention to the contact due to their interaction. Significant progress has been made in estimating hand and object separately with deep…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Kalman filtering has been traditionally applied in three application areas of estimation, state estimation, parameter estimation (a.k.a. model updating), and dual estimation. However, Kalman filter is often not sufficient when experimenting…

Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…

State-space models can be used to incorporate subject knowledge on the underlying dynamics of a time series by the introduction of a latent Markov state-process. A user can specify the dynamics of this process together with how the state…

A central challenge in building robotic prostheses is the creation of a sensor-based system able to read physiological signals from the lower limb and instruct a robotic hand to perform various tasks. Existing systems typically perform…