相关论文: ConPoSe: LLM-Guided Contact Point Selection for Sc…

Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR interfaces often rely on manual "air tap" gestures for goal…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

Pretrained large language models (LLMs) can work as high-level robotic planners by reasoning over abstract task descriptions and natural language instructions, etc. However, they have shown a lack of knowledge and effectiveness in planning…

Large language models (LLMs) demonstrate exceptional instruct-following ability to complete various downstream tasks. Although this impressive ability makes LLMs flexible task solvers, their performance in solving tasks also heavily relies…

The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…

Enabling humanoid robots to clean rooms has long been a pursued dream within humanoid research communities. However, many tasks require multi-humanoid collaboration, such as carrying large and heavy furniture together. Given the scarcity of…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

Future collaborative robots must be capable of finding objects. As such a fundamental skill, we expect object search to eventually become an off-the-shelf capability for any robot, similar to e.g., object detection, SLAM, and motion…

Autonomous exploration and object search in unknown indoor environments remain challenging for multi-robot systems (MRS). Traditional approaches often rely on greedy frontier assignment strategies with limited inter-robot coordination. In…

To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…

This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

The Collective Perception Service (CPS) enables the enhancement of environmental awareness of Intelligent Transport System Stations (ITS-S) through the exchange of tracking information between stations. As the market penetration of CPS is…

Object placement in robotic tasks is inherently challenging due to the diversity of object geometries and placement configurations. To address this, we propose AnyPlace, a two-stage method trained entirely on synthetic data, capable of…

The SLAMMOT, i.e. simultaneous localization, mapping, and moving object (detection and) tracking, represents an emerging technology for autonomous vehicles in dynamic environments. Such single-vehicle systems still have inherent…

Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…