相关论文: SPACE: Unifying Symmetric and Asymmetric Routing P…
Video Panoptic Segmentation (VPS) aims at assigning a class label to each pixel, uniquely segmenting and identifying all object instances consistently across all frames. Classic solutions usually decompose the VPS task into several…
We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting…
Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current…
Recent advances in neural surrogate modeling offer the potential for transformative innovations in applications such as automotive aerodynamics. Yet, industrial-scale problems often involve volumetric meshes with cell counts reaching 100…
Vision-Language Models (VLMs) have enabled autonomous GUI agents that translate natural language instructions into executable screen coordinates. However, grounding performance degrades in high-resolution interfaces, where dense layouts and…
Rotary Position Embedding (RoPE) has become a core component of modern Transformer architectures across language, vision, and 3D domains. However, existing implementations rely on vector-level split and merge operations that introduce…
Sampling-based algorithms for robot path planning offer probabilistic completeness and strong empirical convergence properties across environments with diverse obstacle configurations. However, in practice, these methods often require many…
This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…
In phase-contrast magnetic resonance imaging (PC-MRI), the velocity of spins at a voxel is encoded in the image phase. The strength of the velocity encoding gradient offers a trade-off between the velocity-to-noise ratio (VNR) and the…
This study presents an in-depth computational analysis of four well-known Capacitated Vehicle Routing Problem (CVRP) formulations with polynomial number of subtour elimination constraints: a node-based formulation and three arc-based…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
We study the problem of symmetry detection of 3D shapes from single-view RGB-D images, where severely missing data renders geometric detection approach infeasible. We propose an end-to-end deep neural network which is able to predict both…
Recognizing places from an opposing viewpoint during a return trip is a common experience for human drivers. However, the analogous robotics capability, visual place recognition (VPR) with limited field of view cameras under 180 degree…
The Capacitated Vehicle Routing Problem (CVRP) is a fundamental NP-hard problem with broad applications in logistics and transportation. Real-world CVRPs often involve diverse objectives and complex constraints, such as time windows or…
The bipartite matching problem is widely applied in the field of transportation; e.g., to find optimal matches between supply and demand over time and space. Recent efforts have been made on developing analytical formulas to estimate the…
Relative representations are an established approach to zero-shot model stitching, consisting of a non-trainable transformation of the latent space of a deep neural network. Based on insights of topological and geometric nature, we propose…
Neural routing solvers (NRSs) that leverage deep learning to tackle vehicle routing problems have demonstrated notable potential for practical applications. By learning implicit heuristic rules from data, NRSs replace the handcrafted…
Transformer-based models have advanced feedforward novel view synthesis (NVS). Current architectures such as GS-LRM and LVSM mix semantic information (e.g., RGB) and spatial information (e.g., Pl\"ucker rays) into a shared feature space.…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Numerous remarkable advancements have been made in accuracy, speed, and parallelism for solving the Unmanned Aerial Vehicle Route Planing (UAVRP). However, existing UAVRP solvers face challenges when attempting to scale effectively and…