相关论文: Transferring Physical Motion Between Domains for N…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…

As wearable and mobile devices become increasingly embedded in daily life, they offer a practical way to continuously sense human motion in the wild. But inertial signals are highly dependent on the sensing setup, including body location,…

Mobile robots are used in various fields, from deliveries to search and rescue applications. Different types of sensors are mounted on the robot to provide accurate navigation and, thus, allow successful completion of its task. In…

Many applications utilize sensors in mobile devices and machine learning to provide novel services. However, various factors such as different users, devices, and environments impact the performance of such applications, thus making the…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

Automated animal behavior analysis relies on long-term, interpretable individual trajectories; however, multi-animal tracking in space science experimental videos remains highly challenging due to weak appearance cues, low-quality imaging,…

Sparse wearable inertial measurement units (IMUs) have gained popularity for estimating 3D human motion. However, challenges such as pose ambiguity, data drift, and limited adaptability to diverse bodies persist. To address these issues, we…

We propose iMoT, an innovative Transformer-based inertial odometry method that retrieves cross-modal information from motion and rotation modalities for accurate positional estimation. Unlike prior work, during the encoding of the motion…

Domain adaptation is crucial for transferring the knowledge from the source labeled CT dataset to the target unlabeled MR dataset in abdominal multi-organ segmentation. Meanwhile, it is highly desirable to avoid the high annotation cost…

Domain adaptation, which aims to transfer knowledge between domains, has been well studied in many areas such as image classification and object detection. However, for multi-modal tasks, conventional approaches rely on large-scale…

This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…

In healthcare applications, there is a growing need to develop machine learning models that use data from a single source, such as that from a wrist wearable device, to monitor physical activities, assess health risks, and provide immediate…

Data-driven methods have become increasingly more prominent for musculoskeletal modelling due to their conceptually intuitive simple and fast implementation. However, the performance of a pre-trained data-driven model using the data from…

Applications in the Internet of Things (IoT) utilize machine learning to analyze sensor-generated data. However, a major challenge lies in the lack of targeted intelligence in current sensing systems, leading to vast data generation and…

Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…

This paper demonstrates the potential of vibration-based Foundation Models (FMs), pre-trained with unlabeled sensing data, to improve the robustness of run-time inference in (a class of) IoT applications. A case study is presented featuring…