相关论文: IRIS: Learning-Driven Task-Specific Cinema Robot A…

Iris Recognition (IR) is one of the market's most reliable and accurate biometric systems. Today, it is challenging to build NIR-capturing devices under the premise of hardware price reduction. Commercial NIR sensors are protected from…

Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…

Vision-based imitation learning has enabled impressive robotic manipulation skills, but its reliance on object appearance while ignoring the underlying 3D scene structure leads to low training efficiency and poor generalization. To address…

Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical…

Neural Radiance Fields achieve high-fidelity scene representation but suffer from costly training and rendering, while 3D Gaussian splatting offers real-time performance with strong empirical results. Recently, solutions that harness the…

Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

Neuromorphic (event-based) image sensors draw inspiration from the human-retina to create an electronic device that can process visual stimuli in a way that closely resembles its biological counterpart. These sensors process information…

Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…

The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan length). This problem has applications across many domains where…

With the rapid development of artificial intelligence, robotics, and Internet of Things, multi-robot systems are progressively acquiring human-like environmental perception and understanding capabilities, empowering them to complete complex…

Reconfigurable intelligent surfaces, with their large number of antennas, offer an interesting opportunity for high spatial-resolution imaging. In this paper, we propose a novel RIS-aided integrated imaging and communication system that can…

Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally…

This letter explores an implementation of a novel thin film 1-by-4 reconfigurable intelligent surface (RIS) designed for future communication and sensing scenarios. Utilizing cost-effective inkjet printing methods and additive…

Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While learning-based models of the environment dynamics have contributed to significant improvements in sample efficiency…

Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…

Robotic-assisted surgeries benefit both surgeons and patients, however, surgeons frequently need to adjust the endoscopic camera to achieve good viewpoints. Simultaneously controlling the camera and the surgical instruments is impossible,…

Legged robots are becoming increasingly powerful and popular in recent years for their potential to bring the mobility of autonomous agents to the next level. This work presents a deep reinforcement learning approach that learns a robust…

Reconfigurable intelligent surface (RIS) is a two-dimensional periodic structure integrated with a large number of reflective elements, which can manipulate electromagnetic waves in a digital way, offering great potentials for wireless…