Decentralized Swarm Control Via SO(3) Embeddings for 3D Trajectories
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces...
LiLa-Net: Lightweight Latent LiDAR Autoencoder for 3D Point Cloud Reconstruction
This work proposed a 3D autoencoder architecture, named LiLa-Net, which encodes efficient features from real traffic environments, employing only the LiDAR's point clouds. For this purpose, we have...
NORM-Nav: Zero-Shot Mobile Robot Navigation with Natural Language Behavioral Constraints
Task-Parameterized Motion Learning with Time-Sensitive Constraints
Teaching motion skills to robots through demonstrations has becomes widely popular. However, precise execution of start-, via-, and end-poses at given times is often not guaranteed, limiting the te...
Real-Time Generation of Near-Minimum-Energy Trajectories Via Constraint-Informed Residual Learning
Industrial robotics demands significant energy to operate, making energy-reduction methodologies increasingly important. Strategies for planning minimum-energy trajectories typically involve solvin...
Accelerating High-Capacity Ridepooling in Robo-Taxi Systems
Rapid urbanization has increased demand for customized urban mobility, making on-demand services and robo-taxis central to future transportation. The efficiency of these systems hinges on real-time...
ClustViT: Clustering-Based Token Merging for Semantic Segmentation
Vision Transformers can achieve high accuracy and strong generalization across various contexts, but their practical applicability on real-world robotic systems is limited due to their quadratic at...
Gaussian Variational Inference with Non-Gaussian Factors for State Estimation: A UWB Localization Case Study
This letter extends the exactly sparse Gaussian variational inference (ESGVI) algorithm for state estimation in two complementary directions. First, ESGVI is generalized to operate on matrix Lie gr...
FORTE: Tactile Force and Slip Sensing on Compliant Fingers for Delicate Manipulation
Handling fragile objects remains a major challenge for robotic manipulation. Tactile sensing and soft robotics can improve delicate object handling, but typically involve high integration complexit...
Interpretable Multimodal Gesture Recognition for Drone and Mobile Robot Teleoperation Via Log-Likelihood Ratio Fusion
Cooperative-Competitive Team Play of Real-World Craft Robots
Multi-agent deep Reinforcement Learning (RL) has made significant progress in developing intelligent game-playing agents in recent years. However, the efficient training of collective robots using ...
VG3T: Visual Geometry Grounded Gaussian Transformer
Generating a coherent 3D scene representation from multi-view images is a fundamental yet challenging task. Existing methods often struggle with multi-view fusion, leading to fragmented 3D represen...
H-Zero: Cross-Humanoid Locomotion Pretraining Enables Few-Shot Novel Embodiment Transfer
The rapid advancement of humanoid robotics has intensified the need for robust and adaptable controllers to enable stable and efficient locomotion across diverse platforms. However, developing such...
Risk-Aware Reinforcement Learning with Bandit-Based Adaptation for Quadrupedal Locomotion
In this work, we introduce a risk-aware reinforcement learning framework for robust quadrupedal locomotion. Our approach first trains a family of risk-conditioned policies using a Conditional Value...
Ro-To-Go! Robust Reactive Control with Signal Temporal Logic
Signal Temporal Logic robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in model predictive control...
Cooperative Payload Estimation by a Team of Mocobots
For high-performance autonomous manipulation of a payload by a mobile manipulator team, or for collaborative manipulation with the human, robots should be able to discover where other robots are at...
Infinite-Horizon Value Function Approximation for Model Predictive Control
Model Predictive Control has emerged as a popular tool for robots to generate complex motions. However, the real-time requirement has limited the use of hard constraints and large preview horizons,...
Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent complia...
Coupled Particle Filters for Robust Affordance Estimation
Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive es...
Shell-Type Soft Jig for Holding Objects During Disassembly
This study addresses a flexible holding tool for robotic disassembly. We propose a shell-type soft jig that securely and universally holds objects, mitigating the risk of component damage and adapt...
