相关论文: Curating Long-term Vector Maps

Lifelong localization in a given map is an essential capability for autonomous service robots. In this paper, we consider the task of long-term localization in a changing indoor environment given sparse CAD floor plans. The commonly used…

Various adaptive abilities are required for robots interacting with humans in daily life. It is difficult to design adaptive algorithms manually; however, by using end-to-end machine learning, labor can be saved during the design process.…

We consider the problem of learning a classifier from observed functional data. Here, each data-point takes the form of a single time-series and contains numerous features. Assuming that each such series comes with a binary label, the…

We introduce TemporalVLM, a video large language model (video LLM) for temporal reasoning and fine-grained understanding in long videos. Our approach includes a visual encoder for mapping a long-term video into features which are time-aware…

Unmanned Surface Vehicles (USVs) have become critical tools for marine exploration, environmental monitoring, and autonomous navigation. Accurate estimation of wave direction is essential for improving USV navigation and ensuring…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…

In real scenarios, videos can span several minutes or even hours. However, existing research on spatio-temporal video grounding (STVG), given a textual query, mainly focuses on localizing targets in short videos of tens of seconds,…

For their ability to capture non-linearities in the data and to scale to large training sets, local Support Vector Machines (SVMs) have received a special attention during the past decade. In this paper, we introduce a new local SVM method,…

We investigate anomaly detection in an unsupervised framework and introduce Long Short Term Memory (LSTM) neural network based algorithms. In particular, given variable length data sequences, we first pass these sequences through our LSTM…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…

In this paper, we develop a \textcolor{black}{\emph{distributed}} algorithm to localize a network of robots moving arbitrarily in a bounded region. In the case of such mobile networks, the main challenge is that the robots may not be able…

We describe a new spatio-temporal video autoencoder, based on a classic spatial image autoencoder and a novel nested temporal autoencoder. The temporal encoder is represented by a differentiable visual memory composed of convolutional long…

Precise and timely traffic flow prediction plays a critical role in developing intelligent transportation systems and has attracted considerable attention in recent decades. Despite the significant progress in this area brought by deep…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

Extending the abilities of service robots is important for expanding what they can achieve in everyday manipulation tasks. On the other hand, it is also essential to ensure them to determine what they can not achieve in certain cases due to…

Large language models (LLMs) exhibit a variety of promising capabilities in robotics, including long-horizon planning and commonsense reasoning. However, their performance in place recognition is still underexplored. In this work, we…

Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Time series forecasting plays a crucial role in diverse fields, necessitating the development of robust models that can effectively handle complex temporal patterns. In this article, we present a novel feature selection method embedded in…