相关论文: YOPOv2-Tracker: An End-to-End Agile Tracking and N…

Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…

In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to…

Designing a real-time framework for the spatio-temporal action detection task is still a challenge. In this paper, we propose a novel real-time action detection framework, YOWOv2. In this new framework, YOWOv2 takes advantage of both the 3D…

Learning-based controllers have achieved impressive performance in agile quadrotor flight but typically rely on massive training in simulation, necessitating accurate system identification for effective Sim2Real transfer. However, even with…

Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…

Deep-learning-based video processing has yielded transformative results in recent years. However, the video analytics pipeline is energy-intensive due to high data rates and reliance on complex inference algorithms, which limits its…

We tackle the problem of joint perception and motion forecasting in the context of self-driving vehicles. Towards this goal we propose PnPNet, an end-to-end model that takes as input sequential sensor data, and outputs at each time step…

Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…

This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline…

We present a challenging and realistic novel dataset for evaluating 6-DOF object tracking algorithms. Existing datasets show serious limitations---notably, unrealistic synthetic data, or real data with large fiducial markers---preventing…

Visual object tracking is essential to intelligent robots. Most existing approaches have ignored the online latency that can cause severe performance degradation during real-world processing. Especially for unmanned aerial vehicles (UAVs),…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…

Current approaches to humanoid control generally fall into two paradigms: perceptive locomotion, which handles terrain well but is limited to pedal gaits, and general motion tracking, which reproduces complex skills but ignores…

Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…

Planning provides a framework for optimizing sequential decisions in complex environments. Recent advances in efficient planning in deterministic or stochastic high-dimensional domains with continuous action spaces leverage backpropagation…