相关论文: OceanSim: A GPU-Accelerated Underwater Robot Perce…
Marine robotics simulators play a fundamental role in the development of marine robotic systems. With increased focus on the marine robotics field in recent years, there has been significant interest in developing higher fidelitysimulation…
Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulate agile dynamics of multi-rotor vehicles in complex and…
Soft robotics has the potential to revolutionize robotic locomotion, in particular, soft robotic swimmers offer a minimally invasive and adaptive solution to explore and preserve our oceans. Unfortunately, current soft robotic swimmers are…
Global ocean modeling is vital for climate science but struggles to balance computational efficiency with accuracy. Traditional numerical solvers are accurate but computationally expensive, while pure deep learning approaches, though fast,…
Metaverse has attracted great attention from industry and academia in recent years. Metaverse for the ocean (Meta-ocean) is the implementation of the Metaverse technologies in virtual emersion of the ocean which is beneficial for people…
High-precision scientific simulation faces a long-standing trade-off between computational efficiency and physical fidelity. To address this challenge, we propose NeuralOGCM, an ocean modeling framework that fuses differentiable programming…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
Depth information plays a crucial role in autonomous systems for environmental perception and robot state estimation. With the rapid development of deep neural network technology, depth estimation has been extensively studied and shown…
Autonomous navigation in congested maritime environments is a critical capability for a wide range of real-world applications. However, it remains an unresolved challenge due to complex vessel interactions and significant environmental…
Nearly 900 million people live in low-lying coastal zones around the world and bear the brunt of impacts from more frequent and severe hurricanes and storm surges. Oceanographers simulate ocean current circulation along the coasts to…
This paper presents the Marinarium, a modular and stand-alone underwater research facility designed to provide a realistic testbed for maritime and space-analog robotic experimentation in a resource-efficient manner. The Marinarium combines…
Underwater environments pose significant challenges due to the selective absorption and scattering of light by water, which affects image clarity, contrast, and color fidelity. To overcome these, we introduce OceanLens, a method that models…
Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…
We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…
High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…
Representing underwater 3D scenes is a valuable yet complex task, as attenuation and scattering effects during underwater imaging significantly couple the information of the objects and the water. This coupling presents a significant…
With the development of artificial intelligence techniques, transportation system optimization is evolving from traditional methods relying on expert experience to simulation and learning-based decision and optimization methods.…
The development and evaluation of machine vision in underwater environments remains challenging, often relying on trial-and-error-based testing tailored to specific applications. This is partly due to the lack of controlled, ground-truthed…
Efficient acquisition of real-world embodied data has been increasingly critical. However, large-scale demonstrations captured by remote operation tend to take extremely high costs and fail to scale up the data size in an efficient manner.…
Fluid simulations are often performed using the incompressible Navier-Stokes equations (INSE), leading to sparse linear systems which are difficult to solve efficiently in parallel. Recently, kinetic methods based on the…