相关论文: Multimodal Detection and Identification of Robot M…

Networked robotic systems balance compute, power, and latency constraints in applications such as self-driving vehicles, drone swarms, and teleoperated surgery. A core problem in this domain is deciding when to offload a computationally…

This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…

Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrations, yet face two critical challenges: (1) general video…

For legged robots to operate in complex terrains, they must be robust to the disturbances and uncertainties they encounter. This paper contributes to enhancing robustness through the design of fall detection/prediction algorithms that will…

Deep learning methods have revolutionized mobile robotics, from advanced perception models for an enhanced situational awareness to novel control approaches through reinforcement learning. This paper explores the potential of federated…

This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…

This paper investigates one of the most challenging tasks in dynamic manipulation -- catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the…

Manipulating deformable linear objects (DLOs) is challenging due to their complex dynamics and the need for safe interaction in contact-rich environments. Most existing models focus on shape prediction alone and fail to account for contact…

Multiple organ failure (MOF) is a life-threatening condition. Due to its urgency and high mortality rate, early detection is critical for clinicians to provide appropriate treatment. In this paper, we perform quantitative analysis on early…

Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…

With the increase in use of Unmanned Aerial Vehicles (UAVs)/drones, it is important to detect and identify causes of failure in real time for proper recovery from a potential crash-like scenario or post incident forensics analysis. The…

This work presents REFLEX: Robotic Explanations to FaiLures and Human EXpressions, a comprehensive multimodal dataset capturing human reactions to robot failures and subsequent explanations in collaborative settings. It aims to facilitate…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

Autonomous navigation in complex environments is a crucial task in time-sensitive scenarios such as disaster response or search and rescue. However, complex environments pose significant challenges for autonomous platforms to navigate due…

Intelligent intersection managers can improve safety by detecting dangerous drivers or failure modes in autonomous vehicles, warning oncoming vehicles as they approach an intersection. In this work, we present FailureNet, a recurrent neural…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

An important prerequisite for the reliability and robustness of a service robot is ensuring the robot's correct behavior when it performs various tasks of interest. Extensive testing is one established approach for ensuring behavioural…

While deep networks can learn complex functions such as classifiers, detectors, and trackers, many applications require models that continually adapt to changing input distributions, changing tasks, and changing environmental conditions.…

Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…

Effectively utilizing multi-sensory data is important for robots to generalize across diverse tasks. However, the heterogeneous nature of these modalities makes fusion challenging. Existing methods propose strategies to obtain…