相关论文: Optimizing Interaction Space: Enlarging the Captur…
Large Multimodal Models (LMMs) have recently gained prominence in autonomous driving research, showcasing promising capabilities across various emerging benchmarks. LMMs specifically designed for this domain have demonstrated effective…
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Locomotion in microgravity often relies on sparsely and irregularly arranged anchors, motivating grasp-based mobility with multiple limbs. In this setting, dynamic locomotion is feasible only through deliberate regulation of both anchored…
Perspective distortion (PD) leads to substantial alterations in the shape, size, orientation, angles, and spatial relationships of visual elements in images. Accurately determining camera intrinsic and extrinsic parameters is challenging,…
A common sensing problem is to use a set of stationary tracking locations to monitor a collection of moving devices: Given $n$ objects that need to be tracked, each following its own trajectory, and $m$ stationary traffic control stations,…
Neurological conditions are a major source of movement disorders. Motion modelling and variability analysis have the potential to identify pathology but require profound data. We introduce a systematic dataset of 3D center-out task-space…
Multi-camera tracking systems are gaining popularity in applications that demand high-quality tracking results, such as frictionless checkout because monocular multi-object tracking (MOT) systems often fail in cluttered and crowded…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
Multi-robot platforms are playing an increasingly important role in warehouse automation for efficient goods transport. This paper proposes a novel customization of a multi-robot system, called Tactile Mobile Manipulators (TacMMs). Each…
A realistic human kinematic model that satisfies anatomical constraints is essential for human-robot interaction, biomechanics and robot-assisted rehabilitation. Modeling realistic joint constraints, however, is challenging as human arm…
Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…
Long-term object detection requires the integration of frame-based results over several seconds. For non-deformable objects, long-term detection is often addressed using object detection followed by video tracking. Unfortunately, tracking…
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…
To achieve general-purpose dexterous manipulation, robots must rapidly devise and execute contact-rich behaviors. Existing model-based controllers are incapable of globally optimizing in real-time over the exponential number of possible…
Continuous detection of human activities and presence is essential for developing a pervasive interactive smart space. Existing literature lacks robust wireless sensing mechanisms capable of continuously monitoring multiple users'…
We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion…
Multi-agent collaborative perception (MCP) has recently attracted much attention. It includes three key processes: communication for sharing, collaboration for integration, and reconstruction for different downstream tasks. Existing methods…
Due to the visual ambiguity, purely kinematic formulations on monocular human motion capture are often physically incorrect, biomechanically implausible, and can not reconstruct accurate interactions. In this work, we focus on exploiting…