相关论文: MARIO: Modular and Extensible Architecture for Com…
RoboCup represents an International testbed for advancing research in AI and robotics, focusing on a definite goal: developing a robot team that can win against the human world soccer champion team by the year 2050. To achieve this goal,…
In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a…
Motivation: Due to the central role of protein structure in molecular recognition, great computational efforts are devoted to modeling protein structures and motions that mediate structural rearrangements. The size, dimensionality, and…
Within the field of robotics, computer vision remains a significant barrier to progress, with many tasks hindered by inefficient vision systems. This research proposes a generalized vision module leveraging YOLOv9, a state-of-the-art…
Extending the capabilities of robotics to real-world complex, unstructured environments requires the need of developing better perception systems while maintaining low sample complexity. When dealing with high-dimensional state spaces,…
Nonlinear programming targets nonlinear optimization with constraints, which is a generic yet complex methodology involving humans for problem modeling and algorithms for problem solving. We address the particularly hard challenge of…
Despite recent efforts to collect multi-task, multi-embodiment datasets, to design recipes for training Vision-Language-Action models (VLAs), and to showcase these models on different robot platforms, generalist cross-embodiment robot…
Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Modular programming is a development paradigm that emphasizes self-contained, flexible, and independent pieces of functionality. This practice allows new features to be seamlessly added when desired, and unwanted features to be removed,…
The study of the collaboration, coordination and negotiation among different agents in a multi-agent system (MAS) has always been the most challenging yet popular in the research of distributed artificial intelligence. In this paper, we…
Biomedical challenges have become the de facto standard for benchmarking biomedical image analysis algorithms. While the number of challenges is steadily increasing, surprisingly little effort has been invested in ensuring high quality…
Reinforcement learning (RL) has progressed substantially over the past decade, with much of this progress being driven by benchmarks. Many benchmarks are focused on video or board games, and a large number of robotics benchmarks lack…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…
Sample efficiency in Reinforcement Learning (RL) has traditionally been driven by algorithmic enhancements. In this work, we demonstrate that scaling can also lead to substantial improvements. We conduct a thorough investigation into the…
Multicriteria adjustable robust optimization (MARO) problems arise in a wide variety of practical settings, for example, in the design of a building's energy supply. However, no general approaches, neither for the characterization of…
Autonomous racing has advanced rapidly, particularly on scaled platforms, and software stacks must evolve accordingly. In this work, AROLA is introduced as a modular, layered software architecture in which fragmented and monolithic designs…
A robust evaluation toolset has been designed for Naval Research Laboratory's Real-Time Ocean Forecasting System RELO with the purpose of facilitating an adaptive sampling strategy and providing more educated guidance for routing underwater…
Simultaneously visualizing the decision and objective space of continuous multi-objective optimization problems (MOPs) recently provided key contributions in understanding the structure of their landscapes. For the sake of advancing these…