相关论文: Clutter Resilient Occlusion Avoidance for Tightly-…

Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…

Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…

Amodal recognition is the ability of the system to detect occluded objects. Most SOTA Visual Recognition systems lack the ability to perform amodal recognition. Few studies have achieved amodal recognition through passive prediction or…

Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…

The autonomous mapping of large-scale urban scenes presents significant challenges for autonomous robots. To mitigate the challenges, global planning, such as utilizing prior GPS trajectories from OpenStreetMap (OSM), is often used to guide…

Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…

Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…

Pedestrian detection relying on deep convolution neural networks has made significant progress. Though promising results have been achieved on standard pedestrians, the performance on heavily occluded pedestrians remains far from…

In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Contemporary deep-learning object detection methods for autonomous driving usually assume prefixed categories of common traffic participants, such as pedestrians and cars. Most existing detectors are unable to detect uncommon objects and…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

Passive and bistatic radar systems are often limited by strong clutter and direct-path interference that mask weak moving targets. Conventional cancellation methods such as the extensive cancellation algorithm require careful tuning and can…

Clustering is inherently ill-posed: there often exist multiple valid clusterings of a single dataset, and without any additional information a clustering system has no way of knowing which clustering it should produce. This motivates the…

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the…

This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…

Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…

Visual Active Tracking (VAT) aims to control cameras to follow a target in 3D space, which is critical for applications like drone navigation and security surveillance. However, it faces two key bottlenecks in real-world deployment:…

We propose CARE (Collision Avoidance via Repulsive Estimation) to improve the robustness of learning-based visual navigation methods. Recently, visual navigation models, particularly foundation models, have demonstrated promising…

The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…