相关论文: FFI-VTR: Lightweight and Robust Visual Teach and R…

We present a novel Deep Reinforcement Learning (DRL) based policy to compute dynamically feasible and spatially aware velocities for a robot navigating among mobile obstacles. Our approach combines the benefits of the Dynamic Window…

Forecasting motion and spatial positions of objects is of fundamental importance, especially in safety-critical settings such as autonomous driving. In this work, we address the issue by forecasting two different modalities that carry…

Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery and urban inspection. However, existing…

Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbalance can bias models toward the frequent cases and degrade…

This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

We propose a fixed-lag smoother-based sensor fusion architecture to leverage the complementary benefits of range-based sensors and visual-inertial odometry (VIO) for localization. We use two fixed-lag smoothers (FLS) to decouple accurate…

Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…

Image watermarking supports authenticity and provenance, yet many schemes are still easy to bypass with various distortions and powerful generative edits. Deep learning-based watermarking has improved robustness to diffusion-based image…

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 study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…

Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…

Safe and real-time navigation is fundamental for humanoid robot applications. However, existing bipedal robot navigation frameworks often struggle to balance computational efficiency with the precision required for stable locomotion. We…

Monocular scene flow estimation aims to recover dense 3D motion from image sequences, yet most existing methods are limited to two-frame inputs, restricting temporal modeling and robustness to occlusions. We propose RAFT-MSF++, a…

In this paper, we describe work in progress towards a real-time vision-based traffic flow prediction (TFP) system. The proposed method consists of three elemental operators, that are dynamic texture model based motion segmentation, feature…

Efficient and sustainable maritime transport increasingly depends on reliable forecasting and adaptive routing, yet operational adoption remains difficult due to forecast latencies and the need for human judgment in rapid decision-making…

This paper presents a novel approach to Visual Inertial Odometry (VIO), focusing on the initialization and feature matching modules. Existing methods for initialization often suffer from either poor stability in visual Structure from Motion…

We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requiring camera calibration, poses, or robot-specific training.…