相关论文: HALO: High-Altitude Language-Conditioned Monocular…

Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…

Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed…

Reduced-order models are powerful for analyzing and controlling high-dimensional dynamical systems. Yet constructing these models for complex hybrid systems such as legged robots remains challenging. Classical approaches rely on…

Recent advancements in Multi-Agent Systems (MAS) powered by Large Language Models (LLMs) have demonstrated tremendous potential in diverse task scenarios. Nonetheless, existing agentic systems typically rely on predefined agent-role design…

With the recent implementation of the Artemis Accords, interest in the cis-lunar space is rapidly increasing, necessitating the development of more precise and accurate modeling tools. While general-purpose mission design tools are…

In this paper, we present a monocular Simultaneous Localization and Mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We…

Large language models (LLMs) have significantly advanced natural language processing tasks, yet they are susceptible to generating inaccurate or unreliable responses, a phenomenon known as hallucination. In critical domains such as health…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

We present Hand ArticuLated Occupancy (HALO), a novel representation of articulated hands that bridges the advantages of 3D keypoints and neural implicit surfaces and can be used in end-to-end trainable architectures. Unlike existing…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

We are living in a world surrounded by diverse and "smart" devices with rich modalities of sensing ability. Conveniently capturing the interactions between us humans and these objects remains far-reaching. In this paper, we present I'm-HOI,…

Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for…

We present the ALTO dataset, a vision-focused dataset for the development and benchmarking of Visual Place Recognition and Localization methods for Unmanned Aerial Vehicles. The dataset is composed of two long (approximately 150km and…

Object-level SLAM offers structured and semantically meaningful environment representations, making it more interpretable and suitable for high-level robotic tasks. However, most existing approaches rely on RGB-D sensors or monocular views,…

In this paper, we introduce HALO, a novel Offline Reward Learning algorithm that quantifies human intuition in navigation into a vision-based reward function for robot navigation. HALO learns a reward model from offline data, leveraging…

Limbed climbing robots are designed to explore challenging vertical walls, such as the skylights of the Moon and Mars. In such robots, the primary role of a hand-eye camera is to accurately estimate 3D positions of graspable points (i.e.,…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

HERO (Highly Eccentric Relativity Orbiter) is a space-based mission concept aimed to perform several tests of post-Newtonian gravity around the Earth with a preferably drag-free spacecraft moving along a highly elliptical path fixed in its…

Image retargeting aims to change the aspect-ratio of an image while maintaining its content and structure with less visual artifacts. Existing methods still generate many artifacts or fail to maintain original content or structure. To…