相关论文: MRHaD: Mixed Reality-based Hand-Drawn Map Editing …

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…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open problem. New advancements in control and perception have enabled…

Using touch devices to navigate in virtual 3D environments such as computer assisted design (CAD) models or geographical information systems (GIS) is inherently difficult for humans, as the 3D operations have to be performed by the user on…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Robot manipulation research still suffers from significant data scarcity: even the largest robot datasets are orders of magnitude smaller and less diverse than those that fueled recent breakthroughs in language and vision. We introduce…

Mapping in the GPS-denied environment is an important and challenging task in the field of robotics. In the large environment, mapping can be significantly accelerated by multiple robots exploring different parts of the environment.…

Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…

The human hand is the main medium through which we interact with our surroundings, making its digitization an important problem. While there are several works modeling the geometry of hands, little attention has been paid to capturing…

Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, localization uncertainty, and safety constraints. Current…

This paper proposes a photorealistic real-time dense 3D mapping system that utilizes a learning-based image enhancement method and mesh-based map representation. Due to the characteristics of the underwater environment, where problems such…

Handover optimization in O-RAN faces growing challenges due to heterogeneous user mobility patterns and rapidly varying radio conditions. Existing ML-based handover schemes typically operate at the near-RT layer, which lack awareness of the…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…

Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…

Autonomous exploration of unknown environments using a team of mobile robots demands distributed perception and planning strategies to enable efficient and scalable performance. Ideally, each robot should update its map and plan its motion…

Recent advances in LiDAR technology have opened up new possibilities for robotic navigation. Given the widespread use of occupancy grid maps (OGMs) in robotic motion planning, this paper aims to address the challenges of integrating LiDAR…

Environment mapping is an essential prerequisite for mobile robots to perform different tasks such as navigation and mission planning. With the availability of low-cost 2D LiDARs, there are increasing applications of such 2D LiDARs in…

We hand the community HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses…