相关论文: Stroke-based Rendering and Planning for Robotic Pe…

From Paleolithic cave paintings to Impressionism, human painting has evolved to depict increasingly complex and detailed scenes, conveying more nuanced messages. This paper attempts to emerge this artistic capability by simulating the…

Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…

We propose a differentiable sphere tracing algorithm to bridge the gap between inverse graphics methods and the recently proposed deep learning based implicit signed distance function. Due to the nature of the implicit function, the…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential task planning. Augmented with predicate-like attributes, this contact graph-based representation abstracts scene layouts with succinct geometric…

Shape-based metrics measure how faithfully a drawing D represents the structure of a graph G, using the proximity graph S of D. While some limited graph classes admit proximity drawings (i.e., optimally shape-faithful drawings, where S =…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Modeling and manipulating elasto-plastic objects are essential capabilities for robots to perform complex industrial and household interaction tasks (e.g., stuffing dumplings, rolling sushi, and making pottery). However, due to the high…

Autonomous drones can operate in remote and unstructured environments, enabling various real-world applications. However, the lack of effective vision-based algorithms has been a stumbling block to achieving this goal. Existing systems…

In this paper, we report the results of our latest work on the automated generation of planning operators from human demonstrations, and we present some of our future research ideas. To automatically generate planning operators, our system…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

We present PBR-SR, a novel method for physically based rendering (PBR) texture super resolution (SR). It outputs high-resolution, high-quality PBR textures from low-resolution (LR) PBR input in a zero-shot manner. PBR-SR leverages an…

We introduce a neural network approach for generating and customizing the trajectory of a robotic arm, that guarantees precision and repeatability. To highlight the potential of this novel method, we describe the design and implementation…

Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Creating the photo-realistic version of people sketched portraits is useful to various entertainment purposes. Existing studies only generate portraits in the 2D plane with fixed views, making the results less vivid. In this paper, we…

Next generation robots will need to understand intricate and articulated objects as they cooperate in human environments. To do so, these robots will need to move beyond their current abilities--- working with relatively simple objects in a…

Low-rank approximation in data streams is a fundamental and significant task in computing science, machine learning and statistics. Multiple streaming algorithms have emerged over years and most of them are inspired by randomized…

Recent empirical research has indicated that human graph reading performance improves when crossing angles increase. However, crossing angle has not been used as an aesthetic criterion for graph drawing algorithms so far. In this paper, we…