相关论文: Inspection Planning Primitives with Implicit Model…

Environmental monitoring robots often need to estimate data fields (e.g., salinity, temperature, bathymetry) under tight resource constraints. Classical boustrophedon lawnmower surveys provide geometric coverage guarantees but can waste…

With the recent boost in autonomous driving, increased attention has been paid on radars as an input for occupancy mapping. Besides their many benefits, the inference of occupied space based on radar detections is notoriously difficult…

Recent advances in machine learning allow us to analyze and describe the content of high-dimensional data like text, audio, images or other signals. In order to visualize that data in 2D or 3D, usually Dimensionality Reduction (DR)…

Achieving invariance to nuisance transformations is a fundamental challenge in the construction of robust and reliable vision systems. Existing approaches to invariance scale exponentially with the dimension of the family of…

Simulation is often used to evaluate the relevance of a Directing Program of Production (PDP) or to evaluate its impact on detailed sc\'enarii of scheduling. Within this framework, we propose to reduce the complexity of a model of…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

Digital terrain models (DTMs) are pivotal in remote sensing, cartography, and landscape management, requiring accurate surface representation and topological information restoration. While topology analysis traditionally relies on smooth…

In this paper, we introduce a new probabilistically safe local steering primitive for sampling-based motion planning in complex high-dimensional configuration spaces. Our local steering procedure is based on a new notion of a convex…

Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…

Neural implicit modeling permits to achieve impressive 3D reconstruction results on small objects, while it exhibits significant limitations in large indoor scenes. In this work, we propose a novel neural implicit modeling method that…

Interior point methods (IPMs) are a common approach for solving linear programs (LPs) with strong theoretical guarantees and solid empirical performance. The time complexity of these methods is dominated by the cost of solving a linear…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Modern vision-based world models can represent observations as compact yet expressive latent manifolds, but fast goal-oriented planning in these spaces remains challenging. This raises a central question: when does a learned representation…

Implicit neural representations are powerful for geometric modeling, but their practical use is often limited by the high computational cost of network evaluations. We observe that implicit representations require progressively lower…

Noise is an inevitable aspect of point cloud acquisition, necessitating filtering as a fundamental task within the realm of 3D vision. Existing learning-based filtering methods have shown promising capabilities on small-scale synthetic or…

Masked Image Modeling (MIM) techniques have redefined the landscape of computer vision, enabling pre-trained models to achieve exceptional performance across a broad spectrum of tasks. Despite their success, the full potential of MIM-based…

Current robotic manipulators require fast and efficient motion-planning algorithms to operate in cluttered environments. State-of-the-art sampling-based motion planners struggle to scale to high-dimensional configuration spaces and are…

Differentiable rendering is an essential operation in modern vision, allowing inverse graphics approaches to 3D understanding to be utilized in modern machine learning frameworks. Explicit shape representations (voxels, point clouds, or…

How do we enable AI systems to efficiently learn in the real-world? First-principles models are widely used to simulate natural systems, but often fail to capture real-world complexity due to simplifying assumptions. In contrast, deep…