相关论文: A Preview of HoloOcean 2.0

Accurate and adaptive dynamic models are critical for underwater vehicle-manipulator systems where hydrodynamic effects induce time-varying parameters. This paper introduces a novel uncertainty-aware adaptive dynamics model framework that…

ROSflight is a lean, open-source autopilot ecosystem for unmanned aerial vehicles (UAVs). Designed by researchers for researchers, it is built to lower the barrier to entry to UAV research and accelerate the transition from simulation to…

AI emulators for forecasting have emerged as powerful tools that can outperform conventional numerical predictions. The next frontier is to build emulators for long climate simulations with skill across a range of spatiotemporal scales, a…

This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…

This paper introduces HoloBots, a mixed reality remote collaboration system that augments holographic telepresence with synchronized mobile robots. Beyond existing mixed reality telepresence, HoloBots lets remote users not only be visually…

Oysters are the living vacuum cleaners of the oceans. There is an exponential decline in the oyster population due to over-harvesting. With the current development of the automation and AI, robots are becoming an integral part of the…

This paper presents a survey of ocean simulation and rendering methods in computer graphics. To model and animate the ocean's surface, these methods mainly rely on two main approaches: on the one hand, those which approximate ocean dynamics…

We designed and validated a novel simulator for efficient development of multi-robot marine missions. To accelerate development of cooperative behaviors, the simulator models the robots' operating conditions with moderately high fidelity…

Underwater robotics is becoming increasingly important for marine science, environmental monitoring, and subsea industrial operations, yet the development of underwater manipulation and actuation systems remains restricted by high costs,…

With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…

Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the…

With the aim of enabling robots to cooperate with humans, carry out human-like tasks, or navigate among humans, we need to ensure that they are equipped with the ability to comprehend human behaviors and use the extracted knowledge for…

Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…

In the last few years, there have been many new developments and significant accomplishments in the research of bionic robot fishes. However, in terms of swimming performance, existing bionic robot fishes lag far behind fish, prompting…

Bionic underwater robots have demonstrated their superiority in many applications. Yet, training their intelligence for a variety of tasks that mimic the behavior of underwater creatures poses a number of challenges in practice, mainly due…

We present OceanSAR-2, the second generation of our foundation model for SAR-based ocean observation. Building on our earlier release, which pioneered self-supervised learning on Sentinel-1 Wave Mode data, OceanSAR-2 relies on improved SSL…

We introduce Reality Fusion, a novel robot teleoperation system that localizes, streams, projects, and merges a typical onboard depth sensor with a photorealistic, high resolution, high framerate, and wide field of view (FoV) rendering of…

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…

Rescue vessels are the main actors in maritime safety and rescue operations. At the same time, aerial drones bring a significant advantage into this scenario. This paper presents the research directions of the AutoSOS project, where we work…

Simulation has the potential to transform the development of robust algorithms for mobile agents deployed in safety-critical scenarios. However, the poor photorealism and lack of diverse sensor modalities of existing simulation engines…