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09/16/2023
CNS: Correspondence Encoded Neural Image Servo Policy
Image servo is an indispensable technique in robotic applications that h...
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08/30/2023
Sparse Waypoint Validity Checking for Self-Entanglement-Free Tethered Path Planning
A novel mechanism to derive self-entanglement-free (SEF) path for tether...
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08/18/2023
3D Model-free Visual localization System from Essential Matrix under Local Planar Motion
Visual localization plays a critical role in the functionality of low-co...
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08/16/2023
Exploiting Point-Wise Attention in 6D Object Pose Estimation Based on Bidirectional Prediction
Traditional geometric registration based estimation methods only exploit...
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05/23/2023
Leveraging BEV Representation for 360-degree Visual Place Recognition
This paper investigates the advantages of using Bird's Eye View (BEV) re...
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05/02/2023
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Piecewise constant curvature is a popular kinematics framework for conti...
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04/28/2023
Learning adaptive manipulation of objects with revolute joint: A case study on varied cabinet doors opening
This paper introduces a learning-based framework for robot adaptive mani...
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04/25/2023
Zero-shot Transfer Learning of Driving Policy via Socially Adversarial Traffic Flow
Acquiring driving policies that can transfer to unseen environments is c...
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04/18/2023
A Hyper-network Based End-to-end Visual Servoing with Arbitrary Desired Poses
Recently, several works achieve end-to-end visual servoing (VS) for robo...
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04/10/2023
NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping
LiDAR Mapping has been a long-standing problem in robotics. Recent progr...
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04/06/2023
Object-centric Inference for Language Conditioned Placement: A Foundation Model based Approach
We focus on the task of language-conditioned object placement, in which ...
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03/24/2023
UrbanGIRAFFE: Representing Urban Scenes as Compositional Generative Neural Feature Fields
Generating photorealistic images with controllable camera pose and scene...
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03/17/2023
GOOD: General Optimization-based Fusion for 3D Object Detection via LiDAR-Camera Object Candidates
3D object detection serves as the core basis of the perception tasks in ...
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02/25/2023
Failure-aware Policy Learning for Self-assessable Robotics Tasks
Self-assessment rules play an essential role in safe and effective real-...
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02/24/2023
A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter
We focus on the task of language-conditioned grasping in clutter, in whi...
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02/15/2023
A Survey on Global LiDAR Localization
Knowledge about the own pose is key for all mobile robot applications. T...
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02/03/2023
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry
The fusion scheme is crucial to the multi-sensor fusion method that is t...
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02/01/2023
EMV-LIO: An Efficient Multiple Vision aided LiDAR-Inertial Odometry
To deal with the degeneration caused by the incomplete constraints of si...
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11/21/2022
Open-Set Object Detection Using Classification-free Object Proposal and Instance-level Contrastive Learning with Appendix
Detecting both known and unknown objects is a fundamental skill for robo...
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10/20/2022
DeepRING: Learning Roto-translation Invariant Representation for LiDAR based Place Recognition
LiDAR based place recognition is popular for loop closure detection and ...
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10/12/2022
RING++: Roto-translation Invariant Gram for Global Localization on a Sparse Scan Map
Global localization plays a critical role in many robot applications. Li...
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09/14/2022
C^2:Co-design of Robots via Concurrent Networks Coupling Online and Offline Reinforcement Learning
With the rise of computing power, using data-driven approaches for co-de...
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08/08/2022
Efficient Distance-Optimal Tethered Path Planning in Planar Environments: The Workspace Convexity
The main contribution of this paper is the proof of the convexity of the...
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07/27/2022
Efficient Search of the k Shortest Non-Homotopic Paths by Eliminating Non-k-Optimal Topologies
An efficient algorithm to solve the k shortest non-homotopic path planni...
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07/17/2022
FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
In recent years, Visual-Inertial Odometry (VIO) has achieved many signif...
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07/01/2022
Towards Two-view 6D Object Pose Estimation: A Comparative Study on Fusion Strategy
Current RGB-based 6D object pose estimation methods have achieved notice...
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06/12/2022
DPCN++: Differentiable Phase Correlation Network for Versatile Pose Registration
Pose registration is critical in vision and robotics. This paper focuses...
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05/09/2022
Learning A Simulation-based Visual Policy for Real-world Peg In Unseen Holes
This paper proposes a learning-based visual peg-in-hole that enables tra...
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04/26/2022
Map-based Visual-Inertial Localization: Consistency and Complexity
Drift-free localization is essential for autonomous vehicles. In this pa...
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04/17/2022
One RING to Rule Them All: Radon Sinogram for Place Recognition, Orientation and Translation Estimation
LiDAR-based global localization is a fundamental problem for mobile robo...
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04/16/2022
Learning to Fill the Seam by Vision: Sub-millimeter Peg-in-hole on Unseen Shapes in Real World
In the peg insertion task, human pays attention to the seam between the ...
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03/25/2022
A Visual Navigation Perspective for Category-Level Object Pose Estimation
This paper studies category-level object pose estimation based on a sing...
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03/17/2022
DXQ-Net: Differentiable LiDAR-Camera Extrinsic Calibration Using Quality-aware Flow
Accurate LiDAR-camera extrinsic calibration is a precondition for many m...
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03/07/2022
Least Square Estimation Network for Depth Completion
Depth completion is a fundamental task in computer vision and robotics r...
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03/02/2022
Translation Invariant Global Estimation of Heading Angle Using Sinogram of LiDAR Point Cloud
Global point cloud registration is an essential module for localization,...
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10/18/2021
Electric Vehicle Automatic Charging System Based on Vision-force Fusion
Electric vehicles are an emerging means of transportation with environme...
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09/25/2021
Fully Differentiable and Interpretable Model for VIO with 4 Trainable Parameters
Monocular visual-inertial odometry (VIO) is a critical problem in roboti...
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09/25/2021
Learning Stereopsis from Geometric Synthesis for 6D Object Pose Estimation
Current monocular-based 6D object pose estimation methods generally achi...
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09/22/2021
Efficient Object Manipulation to an Arbitrary Goal Pose: Learning-based Anytime Prioritized Planning
We focus on the task of object manipulation to an arbitrary goal pose, i...
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09/22/2021
Domain Generalization for Vision-based Driving Trajectory Generation
One of the challenges in vision-based driving trajectory generation is d...
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09/22/2021
Anti-degenerated UWB-LiDAR Localization for Automatic Road Roller in Tunnel
The automatic road roller, as a popular type of construction robot, has ...
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09/20/2021
HiTMap: A Hierarchical Topological Map Representation for Navigation in Unknown Environments
The ability to autonomously navigate in unknown environments is importan...
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09/16/2021
Learning Observation-Based Certifiable Safe Policy for Decentralized Multi-Robot Navigation
Safety is of great importance in multi-robot navigation problems. In thi...
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09/04/2021
Socially-Aware Multi-Agent Following with 2D Laser Scans via Deep Reinforcement Learning and Potential Field
Target following in dynamic pedestrian environments is an important task...
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06/18/2021
Improved Radar Localization on Lidar Maps Using Shared Embedding
We present a heterogeneous localization framework for solving radar glob...
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03/21/2021
Toward Consistent Drift-free Visual Inertial Localization on Keyframe Based Map
Global localization is essential for robots to perform further tasks lik...
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03/16/2021
Human-Robot Motion Retargeting via Neural Latent Optimization
Motion retargeting from human to robot remains a very challenging task d...
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03/15/2021
Neural Motion Prediction for In-flight Uneven Object Catching
In-flight objects capture is extremely challenging. The robot is require...
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03/09/2021
Efficient learning of goal-oriented push-grasping synergy in clutter
We focus on the task of goal-oriented grasping, in which a robot is supp...
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03/07/2021