相关论文: The Framework of NAVIS: Navigating Virtual Spaces …
Virtual Reality (VR) and Augmented Reality (AR) tools have been applied in all engineering fields in order to avoid the use of physical prototypes, to train in high-risk situations, and to interpret real or simulated results. In order to…
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…
Quadruped locomotion is currently a vibrant research area, which has reached a level of maturity and performance that enables some of the most advanced real-world applications with autonomous quadruped robots both in academia and industry.…
Navigating unmanned aerial vehicles (UAVs) through cluttered and dynamic environments remains a significant challenge, particularly when dealing with fast-moving or sudden-appearing obstacles. This paper introduces a complete LiDAR-based…
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing…
Virtual reality (VR) renderers driving CAVEs and similar immersive environments use the off-axis stereo camera model so that a tracked user can move freely in front of the projection plane. Geometrically, off-axis projection results in…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
3D Gaussian Splatting (3DGS) has recently emerged as an innovative and efficient 3D representation technique. While its potential for extended reality (XR) applications is frequently highlighted, its practical effectiveness remains…
Interaction in virtual reality (VR) environments is essential to achieve a pleasant and immersive experience. Most of the currently existing VR applications, lack of robust object grasping and manipulation, which are the cornerstone of…
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…
In this paper, we describe the development and operating principles of an immersive virtual reality (VR) visualisation environment that is designed around the use of consumer VR headsets in an existing wide area motion capture suite. We…
Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…
The computational notebook serves as a versatile tool for data analysis. However, its conventional user interface falls short of keeping pace with the ever-growing data-related tasks, signaling the need for novel approaches. With the rapid…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Vessel transit in ice-covered waters poses unique challenges in safe and efficient motion planning. When the concentration of ice is high, it may not be possible to find collision-free trajectories. Instead, ice can be pushed out of the way…
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…
This report proposes a combined optimal control and perception framework for Micro Aerial Vehicle (MAV) autonomous navigation in novel indoor enclosed environments, relying exclusively on on-board sensor data. We use privileged information…
Vision-and-Language Navigation requires an embodied agent to navigate through unseen environments, guided by natural language instructions and a continuous video stream. Recent advances in VLN have been driven by the powerful semantic…
Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…
Purpose: Developing and testing a framework that integrates real-time catheter shape reconstruction, interactive simulations, and mixed reality visualization to enable accurate monitoring of catheter-vessel interactions during endovascular…