相关论文: Adaptive Robotic Information Gathering via Non-Sta…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

We consider a robotic vehicle tasked with gathering information by visiting a set of spatially-distributed data sources, the locations of which are not known a priori, but are discovered on the fly. We assume a first-order robot dynamics…

To achieve general-purpose utility, we argue that robots must evolve from passive executors into active Information Retrieval users. In strictly zero-shot settings where no prior demonstrations exist, robots face a critical information gap,…

Technical troubleshooting in enterprise environments often involves navigating diverse, heterogeneous data sources to resolve complex issues effectively. This paper presents a novel agentic AI solution built on a Weighted…

Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic…

Kriging (or Gaussian process regression) is a popular machine learning method for its flexibility and closed-form prediction expressions. However, one of the key challenges in applying kriging to engineering systems is that the available…

Autonomous vehicle navigation in shared pedestrian environments requires the ability to predict future crowd motion both accurately and with minimal delay. Understanding the uncertainty of the prediction is also crucial. Most existing…

Planning paths that maximize information gain for robotic platforms has wide-ranging applications and significant potential impact. To effectively adapt to real-time data collection, informative path planning must be computed online and be…

Reconfigurable intelligent surface (RIS)-aided localization systems are increasingly recognized for enhancing accuracy in internet of things (IoT) networks. However, prevailing studies tend to either assume a Gaussian distribution for angle…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Retrieval-Augmented Generation (RAG) has significantly mitigated the hallucinations of Large Language Models (LLMs) by grounding the generation with external knowledge. Recent extensions of RAG to graph-based retrieval offer a promising…

We consider the task of robust non-linear regression in the presence of both inlier noise and outliers. Assuming that the unknown non-linear function belongs to a Reproducing Kernel Hilbert Space (RKHS), our goal is to estimate the set of…

We present DynaRAG, a retrieval-augmented generation (RAG) framework designed to handle both static and time-sensitive information needs through dynamic knowledge integration. Unlike traditional RAG pipelines that rely solely on static…

This paper proposes a framework for multi-robot systems to perform simultaneous learning and coverage of a domain of interest characterized by an unknown and potentially time-varying density function. To overcome the limitations of Gaussian…

The paper presents a methodology for uncovering knowledge gaps on the internet using the Retrieval Augmented Generation (RAG) model. By simulating user search behaviour, the RAG system identifies and addresses gaps in information retrieval…

In geostatistics, traditional spatial models often rely on the Gaussian Process (GP) to fit stationary covariances to data. It is well known that this approach becomes computationally infeasible when dealing with large data volumes,…

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…

The surge in scientific publications challenges traditional review methods, demanding tools that integrate structured metadata with full-text analysis. Hybrid Retrieval Augmented Generation (RAG) systems, combining graph queries with vector…

In this work, we address the problem of multi-robot adaptive coverage, where teams of robots perform dynamic sampling by continuously adjusting their positions to collect data in an environment. This task can be challenging, particularly…