相关论文: Whole-Body MPC and Dynamic Occlusion Avoidance: A …

Occlusion presents a significant challenge in human pose estimation. The challenges posed by occlusion can be attributed to the following factors: 1) Data: The collection and annotation of occluded human pose samples are relatively…

Recently, occluded person re-identification(Re-ID) remains a challenging task that people are frequently obscured by other people or obstacles, especially in a crowd massing situation. In this paper, we propose a self-supervised deep…

The ability to accurately predict human behavior is central to the safety and efficiency of robot autonomy in interactive settings. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

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…

The human ability to detect and segment moving objects works in the presence of multiple objects, complex background geometry, motion of the observer, and even camouflage. In addition to all of this, the ability to detect motion is nearly…

This paper considers a risk-constrained motion planning problem and aims to find the solution combining the concepts of iterative model predictive control (MPC) and data-driven distributionally robust (DR) risk-constrained optimization. In…

Online collision-free trajectory generation within a shared workspace is fundamental for most multi-robot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility…

Model predictive control (MPC) is a popular control method that has proved effective for robotics, among other fields. MPC performs re-planning at every time step. Re-planning is done with a limited horizon per computational and real-time…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Head pose estimation has become a crucial area of research in computer vision given its usefulness in a wide range of applications, including robotics, surveillance, or driver attention monitoring. One of the most difficult challenges in…

Trajectory optimization under uncertainties is a challenging problem for robots in contact with the environment. Such uncertainties are inevitable due to estimation errors, control imperfections, and model mismatches between planning models…

Inferring the 3D structure from a single image, particularly in occluded regions, remains a fundamental yet unsolved challenge in vision-centric autonomous driving. Existing unsupervised approaches typically train a neural radiance field…

In this paper, we present a robust adaptive model predictive control (MPC) scheme for linear systems subject to parametric uncertainty and additive disturbances. The proposed approach provides a computationally efficient formulation with…

We present a novel approach for 3D human pose estimation by employing probabilistic modeling. This approach leverages the advantages of normalizing flows in non-Euclidean geometries to address uncertain poses. Specifically, our method…

We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…

Controlling high-dimensional nonlinear systems, such as those found in biological and robotic applications, is challenging due to large state and action spaces. While deep reinforcement learning has achieved a number of successes in these…

Nonprehensile manipulation involves long horizon underactuated object interactions and physical contact with different objects that can inherently introduce a high degree of uncertainty. In this work, we introduce a novel Real-to-Sim reward…

Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…

Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced…