相关论文: Bringing A Robot Simulator to the SCAMP Vision Sys…
The images captured by vision-based tactile sensors carry information about high-resolution tactile fields, such as the distribution of the contact forces applied to their soft sensing surface. However, extracting the information encoded in…
Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…
We discuss and predict the evolution of Simultaneous Localisation and Mapping (SLAM) into a general geometric and semantic `Spatial AI' perception capability for intelligent embodied devices. A big gap remains between the visual perception…
We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…
Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical applications. We propose a concept termed perceptive shared…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
Fast neuromorphic event-based vision sensors (Dynamic Vision Sensor, DVS) can be combined with slower conventional frame-based sensors to enable higher-quality inter-frame interpolation than traditional methods relying on fixed motion…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Learning from few demonstrations to develop policies robust to variations in robot initial positions and object poses is a problem of significant practical interest in robotics. Compared to imitation learning, which often struggles to…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Perception is crucial for autonomous driving, but single-agent perception is often constrained by sensors' physical limitations, leading to degraded performance under severe occlusion, adverse weather conditions, and when detecting distant…
Simulating deformable objects under rich interactions remains a fundamental challenge for real-to-sim robot manipulation, with dynamics jointly driven by environmental effects and robot actions. Existing simulators rely on predefined…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…
With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…