相关论文: Robot joint characterisation and control using a m…
Rotation detection serves as a fundamental building block in many visual applications involving aerial image, scene text, and face etc. Differing from the dominant regression-based approaches for orientation estimation, this paper explores…
Although traditionally used in the machine translation field, the encoder-decoder framework has been recently applied for the generation of video and image descriptions. The combination of Convolutional and Recurrent Neural Networks in…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
Applications of force control and motion planning often rely on an inverse dynamics model to represent the high-dimensional dynamic behavior of robots during motion. The widespread occurrence of low-velocity, small-scale, locally isotropic…
Attentional mechanisms are order-invariant. Positional encoding is a crucial component to allow attention-based deep model architectures such as Transformer to address sequences or images where the position of information matters. In this…
Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…
Existing 3D multi-object tracking (MOT) methods often sacrifice efficiency and generalizability for robustness, largely relying on complex association metrics derived from multi-modal architectures and class-specific motion priors.…
Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-inefficient and geometrically fixed. These constraints hinder…
An isotropic medium, having magnetic sublevels, when subjected to a magnetic field or an electromagnetic field can induce anisotropy in the medium; and as a result the plane of polarization of the probe field can rotate. Therefore the…
Positron Emission Tomography (PET) enables functional imaging of deep brain structures, but the bulk and weight of current systems preclude their use during many natural human activities, such as locomotion. The proposed long-term solution…
Oriented object detection predicts orientation in addition to object location and bounding box. Precisely predicting orientation remains challenging due to angular periodicity, which introduces boundary discontinuity issues and symmetry…
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
A quantum mechanical system of two coupled rotors (particles constrained to move on a circle) is studied from an open quantum systems point of view. One of the rotors is integrated out and the reduced density operator of the other rotor is…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Consider a set of autonomous computational entities, called \emph{robots}, operating inside a polygonal enclosure (possibly with holes), that have to perform some collaborative tasks. The boundary of the polygon obstructs both visibility…