Patricio A. Vela

research

∙ 03/28/2023

Planning with Sequence Models through Iterative Energy Minimization

Recent works have shown that sequence modeling can be effectively used t...

0 Hongyi Chen, et al. ∙

research

∙ 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...

0 Shiyu Feng, et al. ∙

research

∙ 03/14/2023

WDiscOOD: Out-of-Distribution Detection via Whitened Linear Discriminative Analysis

Deep neural networks are susceptible to generating overconfident yet err...

0 Yiye Chen, et al. ∙

research

∙ 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 ...

0 Hongyi Chen, et al. ∙

research

∙ 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 ...

0 Yiye Chen, et al. ∙

research

∙ 10/18/2022

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation

We present a parallelized optimization method based on fast Neural Radia...

2 Yunzhi Lin, et al. ∙

research

∙ 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...

0 Ahmad Abuaish, et al. ∙

research

∙ 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...

0 Yunzhi Lin, et al. ∙

research

∙ 03/09/2022

In-Place Rotation for Enhancing Snake-like Robot Mobility

Gaits engineered for snake-like robots to rotate in-place instrumentally...

0 Alexander H. Chang, et al. ∙

research

∙ 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...

0 Ruinian Xu, et al. ∙

research

∙ 01/04/2022

Primitive Shape Recognition for Object Grasping

Shape informs how an object should be grasped, both in terms of where an...

0 Yunzhi Lin, et al. ∙

research

∙ 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...

0 Yunzhi Lin, et al. ∙

research

∙ 06/16/2021

GKNet: grasp keypoint network for grasp candidates detection

Contemporary grasp detection approaches employ deep learning to achieve ...

6 Ruinian Xu, et al. ∙

research

∙ 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...

0 Yiye Chen, et al. ∙

research

∙ 03/25/2021

Multi-view Fusion for Multi-level Robotic Scene Understanding

We present a system for multi-level scene awareness for robotic manipula...

0 Yunzhi Lin, et al. ∙

research

∙ 03/21/2021

Potential Gap: Using Reactive Policies to Guarantee Safe Navigation

This paper considers the integration of gap-based local navigation metho...

0 Ruoyang Xu, et al. ∙

research

∙ 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...

0 Haoxin Ma, et al. ∙

research

∙ 02/26/2021

Trajectory Servoing: Image-Based Trajectory Tracking Using SLAM

This paper describes an image based visual servoing (IBVS) system for a ...

0 Shiyu Feng, et al. ∙

research

∙ 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...

0 Yipu Zhao, et al. ∙

research

∙ 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...

0 Yipu Zhao, et al. ∙

research

∙ 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 ...

24 Yipu Zhao, et al. ∙

research

∙ 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 ...

0 Yunzhi Lin, et al. ∙

research

∙ 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...

17 Fu-Jen Chu, et al. ∙

research

∙ 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...

6 Alexander H. Chang, et al. ∙

research

∙ 05/19/2019

Characterizing SLAM Benchmarks and Methods for the Robust Perception Age

The diversity of SLAM benchmarks affords extensive testing of SLAM algor...

0 Wenkai Ye, et al. ∙

research

∙ 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...

0 Yipu Zhao, et al. ∙

research

∙ 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...

0 Yipu Zhao, et al. ∙

research

∙ 02/01/2018

Deep Grasp: Detection and Localization of Grasps with Deep Neural Networks

A deep learning architecture is proposed to predict graspable locations ...

0 Fu-Jen Chu, et al. ∙

research

∙ 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...

0 Fu-Jen Chu, et al. ∙

research

∙ 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...

0 Justin S. Smith, et al. ∙

research

∙ 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...

0 Nak-seung P. Hyun, et al. ∙

research

∙ 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...

0 Guangcong Zhang, et al. ∙

research

∙ 09/10/2012

A Comparative Study of Efficient Initialization Methods for the K-Means Clustering Algorithm

K-means is undoubtedly the most widely used partitional clustering algor...

0 M. Emre Celebi, et al. ∙

Patricio A. Vela

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