相关论文: Fastron: An Online Learning-Based Model and Active…

This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning model. We propose Fastron, a learning-based algorithm to model…

Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a…

Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide distance metrics often based on joint space measurements…

Recent work done on lane detection has been able to detect lanes accurately in complex scenarios, yet many fail to deliver real-time performance specifically with limited computational resources. In this work, we propose SwiftLane: a simple…

To detect and segment objects in images based on their content is one of the most active topics in the field of computer vision. Nowadays, this problem can be addressed using Deep Learning architectures such as Faster R-CNN or YOLO, among…

Motion planning is an extremely well-studied problem in the robotics community, yet existing work largely falls into one of two categories: computationally efficient but with few if any safety guarantees, or able to give stronger guarantees…

A major goal of computer vision is to enable computers to interpret visual situations---abstract concepts (e.g., "a person walking a dog," "a crowd waiting for a bus," "a picnic") whose image instantiations are linked more by their common…

Object detection is a fundamental task for robots to operate in unstructured environments. Today, there are several deep learning algorithms that solve this task with remarkable performance. Unfortunately, training such systems requires…

Late-interaction retrieval models like ColBERT achieve superior accuracy by enabling token-level interactions, but their computational cost hinders scalability and integration with Approximate Nearest Neighbor Search (ANNS). We introduce…

We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approximates the configuration space (C-space) obstacles through an…

We present a fast simulation application based on a Deep Neural Network, designed to create large analysis-specific datasets. Taking as an example the generation of W+jet events produced in sqrt(s)= 13 TeV proton-proton collisions, we train…

Fine-tuning the pre-trained model with active learning holds promise for reducing annotation costs. However, this combination introduces significant computational costs, particularly with the growing scale of pre-trained models. Recent…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Latest deep learning methods for object detection provide remarkable performance, but have limits when used in robotic applications. One of the most relevant issues is the long training time, which is due to the large size and imbalance of…

Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…

For motion planning in high dimensional configuration spaces, a significant computational bottleneck is collision detection. Our aim is to reduce the expected number of collision checks by creating a belief model of the configuration space…

This paper introduces a Deep Learning Convolutional Neural Network model based on Faster-RCNN for motorcycle detection and classification on urban environments. The model is evaluated in occluded scenarios where more than 60% of the…

We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…

Recently, vision-based Advanced Driver Assist Systems have gained broad interest. In this work, we investigate free-space detection, for which we propose to employ a Fully Convolutional Network (FCN). We show that this FCN can be trained in…

PROXTONE is a novel and fast method for optimization of large scale non-smooth convex problem \cite{shi2015large}. In this work, we try to use PROXTONE method in solving large scale \emph{non-smooth non-convex} problems, for example…