相关论文: MuTT: A Multimodal Trajectory Transformer for Robo…

Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…

Nowadays, our mobility systems are evolving into the era of intelligent vehicles that aim to improve road safety. Due to their vulnerability, pedestrians are the users who will benefit the most from these developments. However, predicting…

Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

Recent advancements in mobile and wireless networks are unlocking the full potential of robotic autonomy, enabling robots to take advantage of ultra-low latency, high data throughput, and ubiquitous connectivity. However, for robots to…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

In recent years, the transformer architecture has become the de facto standard for machine learning algorithms applied to natural language processing and computer vision. Despite notable evidence of successful deployment of this…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

Encoder-decoder models have achieved remarkable success in speech and text tasks, yet efficiently adapting these models to diverse uni/multi-modal scenarios remains an open challenge. In this paper, we propose Whisper-UT, a unified and…

Data scarcity remains a fundamental challenge in robot learning. While human demonstrations benefit from abundant motion capture data and vast internet resources, robotic manipulation suffers from limited training examples. To bridge this…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

Humans possess a unified cognitive ability to perceive, comprehend, and interact with the physical world. Why can't large language models replicate this holistic understanding? Through a systematic analysis of existing training paradigms in…

Prompt tuning, like CoOp, has recently shown promising vision recognizing and transfer learning ability on various downstream tasks with the emergence of large pre-trained vision-language models like CLIP. However, we identify that existing…

Adapting robot trajectories based on human instructions as per new situations is essential for achieving more intuitive and scalable human-robot interactions. This work proposes a flexible language-based framework to adapt generic robotic…

Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…

Many Multi-Object Tracking (MOT) approaches exploit motion information to associate all the detected objects across frames. However, many methods that rely on filtering-based algorithms, such as the Kalman Filter, often work well in linear…

Recent work in offline reinforcement learning (RL) has demonstrated the effectiveness of formulating decision-making as return-conditioned supervised learning. Notably, the decision transformer (DT) architecture has shown promise across…

Recent works attribute the capability of in-context learning (ICL) in large pre-trained language models to implicitly simulating and fine-tuning an internal model (e.g., linear or 2-layer MLP) during inference. However, such constructions…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…