相关论文: Task-Oriented Communications for 3D Scene Represen…
Visual localization determines an agent's precise position and orientation within an environment using visual data. It has become a critical task in the field of robotics, particularly in applications such as autonomous navigation. This is…
For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. However, modeling the inherent coupling effect between the…
Domain adaptation and generative modelling have collectively mitigated the expensive nature of data collection and labelling by leveraging the rich abundance of accurate, labelled data in simulation environments. In this work, we study the…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
Understanding visual scenes requires not only recognizing objects but also reasoning about their spatial relationships. Unlike general vision-language tasks, spatial reasoning requires integrating multiple inductive biases, such as 2D…
Real time applications such as robotic require real time actions based on the immediate available data. Machine learning and artificial intelligence rely on high volume of training informative data set to propose a comprehensive and useful…
Task-oriented communication presents a promising approach to improve the communication efficiency of edge inference systems by optimizing learning-based modules to extract and transmit relevant task information. However, real-time…
We present CPO, a fast and robust algorithm that localizes a 2D panorama with respect to a 3D point cloud of a scene possibly containing changes. To robustly handle scene changes, our approach deviates from conventional feature point…
Despite Proximal Policy Optimization (PPO) dominating policy gradient methods -- from robotic control to game AI -- its static trust region forces a brittle trade-off: aggressive clipping stifles early exploration, while late-stage updates…
The limited capabilities of user equipment restrict the local implementation of computation-intensive applications. Edge computing, especially the edge intelligence system, enables local users to offload the computation tasks to the edge…
Accuracy and timeliness are indeed often conflicting goals in prediction tasks. Premature predictions may yield a higher rate of false alarms, whereas delaying predictions to gather more information can render them too late to be useful. In…
This paper proposes a Shared Backbone Proximal Policy Optimization (Shared Backbone PPO) algorithm. By sharing the base module between the Actor and Critic networks, the algorithm achieves efficient training and improved performance. The…
Mobile cyberphysical systems have received considerable attention over the last decade, as communication, computing and control come together on a common platform. Understanding the complex interactions that govern the behavior of large…
The advent of smart manufacturing is addressing the limitations of traditional centralized scheduling and inflexible production line configurations in the rubber tyre industry, especially in terms of coping with dynamic production demands.…
Forecasting high-dimensional, PDE-governed dynamics remains a core challenge for generative modeling. Existing autoregressive and diffusion-based approaches often suffer cumulative errors and discretisation artifacts that limit long,…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Reconstructing dynamic 3D scenes with photorealistic detail and strong temporal coherence remains a significant challenge. Existing Gaussian splatting approaches for dynamic scene modeling often rely on per-frame optimization, which can…
Three-Dimensional (3D) dense captioning is an emerging vision-language bridging task that aims to generate multiple detailed and accurate descriptions for 3D scenes. It presents significant potential and challenges due to its closer…