相关论文: Predicted Composite Signed-Distance Fields for Rea…

Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…

Recently the dynamic distance potential field (DDPF) was introduced as a computationally efficient method to make agents in a simulation of pedestrians move rather on the quickest path than the shortest. It can be considered to be an…

Implicit reconstruction of ESDF (Euclidean Signed Distance Field) involves training a neural network to regress the signed distance from any point to the nearest obstacle, which has the advantages of lightweight storage and continuous…

We formulate grasp learning as a neural field and present Neural Grasp Distance Fields (NGDF). Here, the input is a 6D pose of a robot end effector and output is a distance to a continuous manifold of valid grasps for an object. In contrast…

Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…

This paper introduces a neural Nonlinear Model Predictive Control (NMPC) framework for mapless, collision-free navigation in unknown environments with Aerial Robots, using onboard range sensing. We leverage deep neural networks to encode a…

Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…

This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…

Compositional implicit surface representations model scenes as collections of objects, each encoded by a Signed Distance Field (SDF). A fundamental limitation of this approach is that multiple SDFs can produce geometries that…

Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…

Computer graphics, 3D computer vision and robotics communities have produced multiple approaches to representing 3D geometry for rendering and reconstruction. These provide trade-offs across fidelity, efficiency and compression…

Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…

In this paper, we tackle the problem of scene-aware 3D human motion forecasting. A key challenge of this task is to predict future human motions that are consistent with the scene by modeling the human-scene interactions. While recent works…

This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses…

Neural Motion Planners (NMPs) have emerged as a promising tool for solving robot navigation tasks in complex environments. However, these methods often require expert data for learning, which limits their application to scenarios where data…

In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…

We propose a robust solution to future trajectory forecast, which can be practically applicable to autonomous agents in highly crowded environments. For this, three aspects are particularly addressed in this paper. First, we use composite…

Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…

Trajectory planning is a critical component in ensuring the safety, stability, and efficiency of autonomous vehicles. While existing trajectory planning methods have achieved progress, they often suffer from high computational costs,…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…