相关论文: A New Software Tool for Generating and Visualizing…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
Modern AI technologies enable autonomous vehicles to perceive complex scenes, predict human behavior, and make real-time driving decisions. However, these data-driven components often operate as black boxes, lacking interpretability and…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
High-definition (HD) maps are essential in testing autonomous driving systems (ADSs). HD maps essentially determine the potential diversity of the testing scenarios. However, the current HD maps suffer from two main limitations: lack of…
4D radar has received significant attention in autonomous driving thanks to its robustness under adverse weathers. Due to the sparse points and noisy measurements of the 4D radar, most of the research finish the 3D object detection task by…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
Endowing robots with tool design abilities is critical for enabling them to solve complex manipulation tasks that would otherwise be intractable. While recent generative frameworks can automatically synthesize task settings, such as 3D…
The advent of simulation engines has revolutionized learning and operational efficiency for robots, offering cost-effective and swift pipelines. However, the lack of a universal simulation platform tailored for chemical scenarios impedes…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Inspecting petrochemical pipelines is challenging due to hazardous materials, narrow diameters, and inaccessible locations. Mobile robots are promising for autonomous pipeline inspection and mapping. This project aimed to simulate and…
It is crucial for any assistive robot to prioritize the autonomy of the user. For a robot working in a task setting to effectively maintain a user's autonomy it must provide timely assistance and make accurate decisions. We use four…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
This paper proposes a path planning algorithm for autonomous vehicles, evaluating collision severity with respect to both static and dynamic obstacles. A collision severity map is generated from ratings, quantifying the severity of…
The capability afforded by Vehicle-to-Vehicle communication improves situational awareness and provides advantages for many of the traffic problems caused by reduced visibility or No-Line-of-Sight situations, being useful for both…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…