相关论文: Remotely Detectable Robot Policy Watermarking

Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…

According to recent studies, commonly used computer vision datasets contain about 4% of label errors. For example, the COCO dataset is known for its high level of noise in data labels, which limits its use for training robust neural deep…

Protecting the Intellectual Property rights of DNN models is of primary importance prior to their deployment. So far, the proposed methods either necessitate changes to internal model parameters or the machine learning pipeline, or they…

We study the problem of devising a closed-loop strategy to control the position of a robot that is tracking a possibly moving target. The robot is capable of obtaining noisy measurements of the target's position. The key idea in active…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

Image watermark techniques provide an effective way to assert ownership, deter misuse, and trace content sources, which has become increasingly essential in the era of large generative models. A critical attribute of watermark techniques is…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Watermarking embeds information into digital content like images, audio, or text, imperceptible to humans but robustly detectable by specific algorithms. This technology has important applications in many challenges of the industry such as…

Imitation learning frameworks that learn robot control policies from demonstrators' motions via hand-mounted demonstration interfaces have attracted increasing attention. However, due to differences in physical characteristics between…

Digital image watermarking has been widely used in different applications such as copyright protection of digital media, such as audio, image, and video files. Two opposing criteria of robustness and transparency are the goals of…

Remote sensing and automatic earth monitoring are key to solve global-scale challenges such as disaster prevention, land use monitoring, or tackling climate change. Although there exist vast amounts of remote sensing data, most of it…

Technologies of the Internet of Things (IoT) facilitate digital contents such as images being acquired in a massive way. However, consideration from the privacy or legislation perspective still demands the need for intellectual content…

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information…

Underwater object detection for robot picking has attracted a lot of interest. However, it is still an unsolved problem due to several challenges. We take steps towards making it more realistic by addressing the following challenges.…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Large language models (LLMs) are pre-trained and post-trained on vast amounts of loosely curated data, raising the possibility that these models may have been trained on proprietary datasets or the same benchmarks used for evaluation. This…

We present a novel technique for modulating the appearance frequency of a few tokens within a dataset for encoding an invisible watermark that can be used to protect ownership rights upon data. We develop optimal as well as fast heuristic…

In the audio modality, state-of-the-art watermarking methods leverage deep neural networks to allow the embedding of human-imperceptible signatures in generated audio. The ideal is to embed signatures that can be detected with high accuracy…

Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…

Language models now routinely produce text that is difficult to distinguish from human writing, raising the need for robust tools to verify content provenance. Watermarking has emerged as a promising countermeasure, with existing work…