相关论文: Feedback Motion Planning for Liquid Transfer using…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

We propose the use of self-supervised learning for human activity recognition with smartphone accelerometer data. Our proposed solution consists of two steps. First, the representations of unlabeled input signals are learned by training a…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…

Scene flow estimation predicts the 3D motion at each point in successive LiDAR scans. This detailed, point-level, information can help autonomous vehicles to accurately predict and understand dynamic changes in their surroundings. Current…

Feedback optimization is an increasingly popular control paradigm to optimize dynamical systems, accounting for control objectives that concern the system operation at steady-state. Existing feedback optimization techniques heavily rely on…

We propose a new self-supervised approach to image feature learning from motion cue. This new approach leverages recent advances in deep learning in two directions: 1) the success of training deep neural network in estimating optical flow…

Everyday robotics are challenged to deal with autonomous product handling in applications like logistics or retail, possibly causing damage on the items during manipulation. Traditionally, most approaches try to minimize physical…

Transfer learning is a powerful tool enabling model training with limited amounts of data. This technique is particularly useful in real-world problems where data availability is often a serious limitation. The simplest transfer learning…

Precise load forecasting in buildings could increase the bill savings potential and facilitate optimized strategies for power generation planning. With the rapid evolution of computer science, data-driven techniques, in particular the Deep…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…

Scene flow estimation is a long-standing problem in computer vision, where the goal is to find the 3D motion of a scene from its consecutive observations. Recently, there have been efforts to compute the scene flow from 3D point clouds. A…

Motion planning is a critical component of intelligent unmanned systems, enabling their complex autonomous operations. However, current planning algorithms still face limitations in planning efficiency due to inflexible strategies and weak…

In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized…

This work proposes a metric learning approach for self-supervised scene flow estimation. Scene flow estimation is the task of estimating 3D flow vectors for consecutive 3D point clouds. Such flow vectors are fruitful, \eg for recognizing…

Modeling the mechanics of fluid in complex scenes is vital to applications in design, graphics, and robotics. Learning-based methods provide fast and differentiable fluid simulators, however most prior work is unable to accurately model how…

It is a significant problem to predict the 2D LiDAR map at next moment for robotics navigation and path-planning. To tackle this problem, we resort to the motion flow between adjacent maps, as motion flow is a powerful tool to process and…

Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often produce paths with unnecessary bending, leading to slower…

Recently, transfer subspace learning based approaches have shown to be a valid alternative to unsupervised subspace clustering and temporal data clustering for human motion segmentation (HMS). These approaches leverage prior knowledge from…