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07/13/2023
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening
Accurate 3D sensing of suturing thread is a challenging problem in autom...
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06/02/2023
Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Volumetric maps are widely used in robotics due to their desirable prope...
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03/29/2023
Material-agnostic Shaping of Granular Materials with Optimal Transport
From construction materials, such as sand or asphalt, to kitchen ingredi...
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03/20/2023
Neural Implicit Vision-Language Feature Fields
Recently, groundbreaking results have been presented on open-vocabulary ...
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03/02/2023
Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on Ceilings
Precise markings for drilling and assembly are crucial, laborious constr...
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01/19/2023
Obstacle avoidance using raycasting and Riemannian Motion Policies at kHz rates for MAVs
In this paper, we present a novel method for using Riemannian Motion Pol...
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10/25/2022
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets
The exploration of large-scale unknown environments can benefit from the...
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10/24/2022
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
Semantic segmentation for robotic systems can enable a wide range of app...
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09/26/2022
Baking in the Feature: Accelerating Volumetric Segmentation by Rendering Feature Maps
Methods have recently been proposed that densely segment 3D volumes into...
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09/13/2022
Learning Agent-Aware Affordances for Closed-Loop Interaction with Articulated Objects
Interactions with articulated objects are a challenging but important ta...
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07/21/2022
Closed-Loop Next-Best-View Planning for Target-Driven Grasping
Picking a specific object from clutter is an essential component of many...
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06/28/2022
Learning Variable Impedance Control for Aerial Sliding on Uneven Heterogeneous Surfaces by Proprioceptive and Tactile Sensing
The recent development of novel aerial vehicles capable of physically in...
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05/09/2022
Robotic Maintenance of Road Infrastructures: The HERON Project
Of all public assets, road infrastructure tops the list. Roads are cruci...
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05/03/2022
Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields (NeRF)
This work investigates the use of Neural implicit representations, speci...
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03/01/2022
Collaborative Robot Mapping using Spectral Graph Analysis
In this paper, we deal with the problem of creating globally consistent ...
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02/09/2022
Stein Particle Filter for Nonlinear, Non-Gaussian State Estimation
Estimation of a dynamical system's latent state subject to sensor noise ...
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01/19/2022
Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses
Creating computer vision datasets requires careful planning and lots of ...
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07/09/2021
Probabilistic Trajectory Prediction with Structural Constraints
This work addresses the problem of predicting the motion trajectories of...
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07/04/2021
Learning ODEs via Diffeomorphisms for Fast and Robust Integration
Advances in differentiable numerical integrators have enabled the use of...
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06/07/2021
Stein ICP for Uncertainty Estimation in Point Cloud Matching
Quantification of uncertainty in point cloud matching is critical in man...
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04/17/2021
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
In this paper, we propose a robust end-to-end multi-modal pipeline for p...
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02/20/2021
Mesh Manifold based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles
This paper presents a novel on-line path planning method that enables ae...
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02/03/2021
PHASER: a Robust and Correspondence-free Global Pointcloud Registration
We propose PHASER, a correspondence-free global registration of sensor-c...
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01/20/2021
Active Model Learning using Informative Trajectories for Improved Closed-Loop Control on Real Robots
Model-based controllers on real robots require accurate knowledge of the...
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01/04/2021
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter
General robot grasping in clutter requires the ability to synthesize gra...
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11/12/2020
Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements
Critical for the coexistence of humans and robots in dynamic environment...
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10/20/2020
Autonomous Extension of a Symbolic Mobile Manipulation Skill Set
Today's methods of programming mobile manipulation systems' behavior for...
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10/19/2020
A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
Exploration is a fundamental problem in robot autonomy. A major limitati...
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06/23/2020
Learning dynamics for improving control of overactuated flying systems
Overactuated omnidirectional flying vehicles are capable of generating f...
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04/16/2020
Estimating Motion Uncertainty with Bayesian ICP
Accurate uncertainty estimation associated with the pose transformation ...
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04/02/2020
Go Fetch: Mobile Manipulation in Unstructured Environments
With humankind facing new and increasingly large-scale challenges in the...
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02/18/2020
DISCO: Double Likelihood-free Inference Stochastic Control
Accurate simulation of complex physical systems enables the development,...
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11/20/2019
Bayesian Curiosity for Efficient Exploration in Reinforcement Learning
Balancing exploration and exploitation is a fundamental part of reinforc...
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09/25/2019
OCTNet: Trajectory Generation in New Environments from Past Experiences
Being able to safely operate for extended periods of time in dynamic env...
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09/20/2019
An Efficient Sampling-based Method for Online Informative Path Planning in Unknown Environments
The ability to plan informative paths online is essential to robot auton...
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07/22/2019
Speeding Up Iterative Closest Point Using Stochastic Gradient Descent
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D ca...
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07/11/2019
Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction
Understanding the dynamics of an environment, such as the movement of hu...
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06/18/2019
Learning to Plan Hierarchically from Curriculum
We present a framework for learning to plan hierarchically in domains wi...
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02/21/2019
Bayesian optimisation under uncertain inputs
Bayesian optimisation (BO) has been a successful approach to optimise fu...
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05/03/2018
Functional Path Optimisation for Exploration in Continuous Occupancy Maps
Autonomous exploration is a complex task where the robot moves through a...
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02/17/2018
Learning to Race through Coordinate Descent Bayesian Optimisation
In the automation of many kinds of processes, the observable outcome can...
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12/14/2017
Learning to Navigate by Growing Deep Networks
Adaptability is central to autonomy. Intuitively, for high-dimensional l...
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09/07/2017
Bayesian Optimisation for Safe Navigation under Localisation Uncertainty
In outdoor environments, mobile robots are required to navigate through ...
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01/07/2017
Urban Scene Segmentation with Laser-Constrained CRFs
Robots typically possess sensors of different modalities, such as colour...
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08/08/2016
Online Adaptation of Deep Architectures with Reinforcement Learning
Online learning has become crucial to many problems in machine learning....
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02/02/2016