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08/17/2023
Watch Your Steps: Local Image and Scene Editing by Text Instructions
Denoising diffusion models have enabled high-quality image generation an...
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07/31/2023
Recovery Policies for Safe Exploration of Lunar Permanently Shadowed Regions by a Solar-Powered Rover
The success of a multi-kilometre drive by a solar-powered rover at the l...
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07/04/2023
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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06/23/2023
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
The small size, high dexterity, and intrinsic compliance of continuum ro...
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05/15/2023
aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System
Following four successful years in the SAE AutoDrive Challenge Series I,...
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05/07/2023
Living in a Material World: Learning Material Properties from Full-Waveform Flash Lidar Data for Semantic Segmentation
Advances in lidar technology have made the collection of 3D point clouds...
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04/19/2023
Reference-guided Controllable Inpainting of Neural Radiance Fields
The popularity of Neural Radiance Fields (NeRFs) for view synthesis has ...
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02/13/2023
The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects
To operate safely and efficiently alongside human workers, collaborative...
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02/01/2023
Extrinsic Calibration of 2D mm-Wavelength Radar Pairs Using Ego-Velocity Estimates
Correct radar data fusion depends on knowledge of the spatial transform ...
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01/18/2023
Contrastive Learning for Self-Supervised Pre-Training of Point Cloud Segmentation Networks With Image Data
Reducing the quantity of annotations required for supervised training is...
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12/30/2022
Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks
Adversarial imitation learning (AIL) has become a popular alternative to...
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11/22/2022
SPIn-NeRF: Multiview Segmentation and Perceptual Inpainting with Neural Radiance Fields
Neural Radiance Fields (NeRFs) have emerged as a popular approach for no...
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11/21/2022
Self-Supervised Pre-training of 3D Point Cloud Networks with Image Data
Reducing the quantity of annotations required for supervised training is...
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11/03/2022
Spatiotemporal Calibration of 3D mm-Wavelength Radar-Camera Pairs
Autonomous vehicles (AVs) often depend on multiple sensors and sensing m...
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09/19/2022
One Network, Many Robots: Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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07/04/2022
LaTeRF: Label and Text Driven Object Radiance Fields
Obtaining 3D object representations is important for creating photo-real...
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04/21/2022
Learning Sequential Latent Variable Models from Multimodal Time Series Data
Sequential modelling of high-dimensional data is an important problem th...
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03/14/2022
A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry
Traditionally, visual-inertial-odometry (VIO) systems rely on filtering ...
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03/02/2022
Fast Object Inertial Parameter Identification for Collaborative Robots
Collaborative robots (cobots) are machines designed to work safely along...
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02/19/2022
Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network
The ability to perceive object slip via tactile feedback enables humans ...
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12/16/2021
Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning
Effective exploration continues to be a significant challenge that preve...
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09/18/2021
Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art
Ideally, robots should move in ways that maximize the knowledge gained a...
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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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08/31/2021
Riemannian Optimization for Distance Geometric Inverse Kinematics
Solving the inverse kinematics problem is a fundamental challenge in mot...
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06/07/2021
Self-Supervised Structure-from-Motion through Tightly-Coupled Depth and Egomotion Networks
Much recent literature has formulated structure-from-motion (SfM) as a s...
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06/01/2021
A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems
We examine the problem of time delay estimation, or temporal calibration...
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04/28/2021
Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations
Learned visuomotor policies have shown considerable success as an altern...
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03/24/2021
Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors
The ability to perceive object slip through tactile feedback allows huma...
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03/12/2021
A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration
Reliable operation in inclement weather is essential to the deployment o...
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03/09/2021
A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots
Articulated robots such as manipulators increasingly must operate in unc...
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02/08/2021
Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching
Successful visual navigation depends upon capturing images that contain ...
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11/10/2020
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
The majority of inverse kinematics (IK) algorithms search for solutions ...
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10/06/2020
Towards a Policy-as-a-Service Framework to Enable Compliant, Trustworthy AI and HRI Systems in the Wild
Building trustworthy autonomous systems is challenging for many reasons ...
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10/01/2020
BRON – Linking Attack Tactics, Techniques, and Patterns with Defensive Weaknesses, Vulnerabilities and Affected Platform Configurations
Many public sources of cyber threat and vulnerability information exist ...
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09/08/2020
Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation
The self-supervised loss formulation for jointly training depth and egom...
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08/18/2020
Heteroscedastic Uncertainty for Robust Generative Latent Dynamics
Learning or identifying dynamics from a sequence of high-dimensional obs...
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07/01/2020
Fighting Failures with FIRE: Failure Identification to Reduce Expert Burden in Intervention-Based Learning
Supervised imitation learning, also known as behavior cloning, suffers f...
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06/01/2020
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Accurate rotation estimation is at the heart of robot perception tasks s...
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05/17/2020
Certifiably Optimal Monocular Hand-Eye Calibration
Correct fusion of data from two sensors is not possible without an accur...
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04/07/2020
Adversarial Genetic Programming for Cyber Security: A Rising Application Domain Where GP Matters
Cyber security adversaries and engagements are ubiquitous and ceaseless....
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02/27/2020
Self-Supervised Deep Pose Corrections for Robust Visual Odometry
We present a self-supervised deep pose correction (DPC) network that app...
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10/01/2019
Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation
We present two novel techniques for detecting zero-velocity events to im...
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09/20/2019
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Inverse kinematics is a fundamental problem for articulated robots: fast...
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08/08/2019
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
A significant challenge in manipulation motion planning is to ensure agi...
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04/02/2019
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Estimating unknown rotations from noisy measurements is an important ste...
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04/01/2019
Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network
Accurate estimates of rotation are crucial to vision-based motion estima...
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04/01/2019
Learning Matchable Colorspace Transformations for Long-term Metric Visual Localization
Long-term metric localization is an essential capability of autonomous m...
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10/07/2018
Hummingbird: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education
In this paper, we introduce the Hummingbird: the first completely open-s...
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09/10/2018
Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion
We present a certifiably globally optimal algorithm for determining the ...
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07/13/2018