相关论文: Humanoid Occupancy: Enabling A Generalized Multimo…

The past few years have witnessed the rapid development of vision-centric 3D perception in autonomous driving. Although the 3D perception models share many structural and conceptual similarities, there still exist gaps in their feature…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

Long-term situation prediction plays a crucial role in the development of intelligent vehicles. A major challenge still to overcome is the prediction of complex downtown scenarios with multiple road users, e.g., pedestrians, bikes, and…

Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…

Grid-centric perception is a crucial field for mobile robot perception and navigation. Nonetheless, grid-centric perception is less prevalent than object-centric perception as autonomous vehicles need to accurately perceive highly dynamic,…

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use…

As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…

One essential step to realize modern driver assistance technology is the accurate knowledge about the location of static objects in the environment. In this work, we use artificial neural networks to predict the occupation state of a whole…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…

3D occupancy prediction is important for autonomous driving due to its comprehensive perception of the surroundings. To incorporate sequential inputs, most existing methods fuse representations from previous frames to infer the current 3D…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

Recently, implicit neural representations have gained popularity for learning-based 3D reconstruction. While demonstrating promising results, most implicit approaches are limited to comparably simple geometry of single objects and do not…

Safe human-robot collaboration (HRC) has recently gained a lot of interest with the emerging Industry 5.0 paradigm. Conventional robots are being replaced with more intelligent and flexible collaborative robots (cobots). Safe and efficient…

Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…

This paper presents Omni-View, which extends the unified multimodal understanding and generation to 3D scenes based on multiview images, exploring the principle that "generation facilitates understanding". Consisting of understanding model,…

We present Whole-Body Mobile Manipulation Interface (HoMMI), a data collection and policy learning framework that learns whole-body mobile manipulation directly from robot-free human demonstrations. We augment UMI interfaces with egocentric…