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07/31/2023
Multi-gait Locomotion Planning and Tracking for Tendon-actuated Terrestrial Soft Robot (TerreSoRo)
The adaptability of soft robots makes them ideal candidates to maneuver ...
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03/28/2023
Planning with Sequence Models through Iterative Energy Minimization
Recent works have shown that sequence modeling can be effectively used t...
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03/14/2023
Safer Gap: A Gap-based Local Planner for Safe Navigation with Nonholonomic Mobile Robots
This paper extends the gap-based navigation technique in Potential Gap b...
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03/14/2023
WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminative Analysis
Deep neural networks are susceptible to generating overconfident yet err...
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03/10/2023
Zero-Shot Object Searching Using Large-scale Object Relationship Prior
Home-assistant robots have been a long-standing research topic, and one ...
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03/09/2023
KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input
We propose a new 6-DoF grasp pose synthesis approach from 2D/2.5D input ...
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10/18/2022
Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
We present a parallelized optimization method based on fast Neural Radia...
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10/11/2022
Geometry of Radial Basis Neural Networks for Safety Biased Approximation of Unsafe Regions
Barrier function-based inequality constraints are a means to enforce saf...
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05/23/2022
Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
We propose a single-stage, category-level 6-DoF pose estimation algorith...
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03/09/2022
In-Place Rotation for Enhancing Snake-like Robot Mobility
Gaits engineered for snake-like robots to rotate in-place instrumentally...
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02/25/2022
SGL: Symbolic Goal Learning in a Hybrid, Modular Framework for Human Instruction Following
This paper investigates robot manipulation based on human instruction wi...
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01/04/2022
Primitive Shape Recognition for Object Grasping
Shape informs how an object should be grasped, both in terms of where an...
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09/13/2021
Single-stage Keypoint-based Category-level Object Pose Estimation from an RGB Image
Prior work on 6-DoF object pose estimation has largely focused on instan...
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06/16/2021
GKNet: grasp keypoint network for grasp candidates detection
Contemporary grasp detection approaches employ deep learning to achieve ...
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04/01/2021
A Joint Network for Grasp Detection Conditioned on Natural Language Commands
We consider the task of grasping a target object based on a natural lang...
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03/25/2021
Multi-view Fusion for Multi-level Robotic Scene Understanding
We present a system for multi-level scene awareness for robotic manipula...
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03/21/2021
Potential Gap: Using Reactive Policies to Guarantee Safe Navigation
This paper considers the integration of gap-based local navigation metho...
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03/02/2021
NavTuner: Learning a Scene-Sensitive Family of Navigation Policies
The advent of deep learning has inspired research into end-to-end learni...
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02/26/2021
Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM
This paper describes an image based visual servoing (IBVS) system for a ...
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08/23/2020
Good Graph to Optimize: Cost-Effective, Budget-Aware Bundle Adjustment in Visual SLAM
The cost-efficiency of visual(-inertial) SLAM (VSLAM) is a critical char...
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03/03/2020
Closed-Loop Benchmarking of Stereo Visual-Inertial SLAM Systems: Understanding the Impact of Drift and Latency on Tracking Accuracy
Visual-inertial SLAM is essential for robot navigation in GPS-denied env...
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01/03/2020
Good Feature Matching: Towards Accurate, Robust VO/VSLAM with Low Latency
Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing ...
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09/12/2019
Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping
A segmentation-based architecture is proposed to decompose objects into ...
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09/12/2019
Detecting Robotic Affordances on Novel Objects with Regional Attention and Attributes
This paper presents a framework for predicting affordances of object par...
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08/19/2019
Autonomous, Monocular, Vision-Based Snake Robot Navigation and Traversal of Cluttered Environments using Rectilinear Gait Motion
Rectilinear forms of snake-like robotic locomotion are anticipated to be...
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05/19/2019
Characterizing SLAM Benchmarks and Methods for the Robust Perception Age
The diversity of SLAM benchmarks affords extensive testing of SLAM algor...
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05/19/2019
Good Feature Selection for Least Squares Pose Optimization in VO/VSLAM
This paper aims to select features that contribute most to the pose esti...
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05/19/2019
Low-latency Visual SLAM with Appearance-Enhanced Local Map Building
A local map module is often implemented in modern VO/VSLAM systems to im...
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02/01/2018
Deep Grasp: Detection and Localization of Grasps with Deep Neural Networks
A deep learning architecture is proposed to predict graspable locations ...
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02/01/2018
The Helping Hand: An Assistive Manipulation Framework Using Augmented Reality and a Tongue-Drive
A human-in-the-loop system is proposed to enable collaborative manipulat...
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01/16/2018
Learning to Navigate: Exploiting Deep Networks to Inform Sample-Based Planning During Vision-Based Navigation
Recent applications of deep learning to navigation have generated end-to...
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12/16/2017
Bendable Cuboid Robot Path Planning with Collision Avoidance using Generalized L_p Norms
Optimal path planning problems for rigid and deformable (bendable) cuboi...
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01/15/2016
Learning Binary Features Online from Motion Dynamics for Incremental Loop-Closure Detection and Place Recognition
This paper proposes a simple yet effective approach to learn visual feat...
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09/10/2012
