相关论文: ZJUNlict Extended Team Description Paper 2025
This paper presents enhancements to the SAM2 framework for video object tracking task, addressing challenges such as occlusions, background clutter, and target reappearance. We introduce a hierarchical motion estimation strategy, combining…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
Advances in deep learning over the last decade have led to a flurry of research in the application of deep artificial neural networks to robotic systems, with at least thirty papers published on the subject between 2014 and the present.…
Designing and optimizing FPGA overlays is a complex and time-consuming process, often requiring multiple trial-and-error iterations to determine a suitable configuration. This paper presents an AI-driven approach to optimizing FPGA overlay…
As agent systems powered by large language models (LLMs) advance, improving performance in context understanding, tool usage, and long-horizon execution has become critical. However, existing agent frameworks and benchmarks provide limited…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Uncertainty quantification is essential in human-machine collaboration, as human agents tend to adjust their decisions based on the confidence of the machine counterpart. Reliably calibrated model uncertainties, hence, enable more effective…
Referring multi-object tracking (RMOT) aims to track multiple objects based on input textual descriptions. Previous works realize it by simply integrating an extra textual module into the multi-object tracker. However, they typically need…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Coordinating heterogeneous robot teams from free-form natural-language instructions is hard. Language-only planners struggle with long-horizon coordination and hallucination, while purely formal methods require closed-world models. We…
Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first…
Large language models have demonstrated remarkable performance across various tasks, yet they face challenges such as low computational efficiency, gradient vanishing, and difficulties in capturing complex feature interactions. To address…
Home-based physical therapies are effective if the prescribed exercises are correctly executed and patients adhere to these routines. This is specially important for older adults who can easily forget the guidelines from therapists.…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation). In the real world, task specifications and/or environment…
The RoboCup 3D Soccer Simulation League serves as a competitive platform for showcasing innovation in autonomous humanoid robot agents through simulated soccer matches. Our team, FC Portugal, developed a new codebase from scratch in Python…
In this report, we present a series of math-specific large language models: Qwen2.5-Math and Qwen2.5-Math-Instruct-1.5B/7B/72B. The core innovation of the Qwen2.5 series lies in integrating the philosophy of self-improvement throughout the…
In this paper, we briefly introduce the solution developed by our team, HFUT-VUT, for the track of Micro-gesture Classification in the MiGA challenge at IJCAI 2024. The task of micro-gesture classification task involves recognizing the…
Recent advancements in large language models (LLMs) and AI systems have led to a paradigm shift in the design and optimization of complex AI workflows. By integrating multiple components, compound AI systems have become increasingly adept…
This paper presents ADAMANT, a set of software modules that provides grasp planning capabilities to an existing robot planning and control software framework. Our presented work allows a user to adapt a manipulation task to be used under…