8 accepted papers
Reactive dance generation (RDG), the task of generating a dance conditioned on a lead dancer's motion, holds significant promise for enhancing human-robot interaction and immersive digital entertainment. Despite progress in duet synchronization and motion-music alignment, two key challenges remain:…
Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving and robotic navigation. However, existing methods rely on a coupled encoder to deliver both semantic and geometric priors, which forces the model to make a trade-off between confli
Instance-level object segmentation across disparate egocentric and exocentric views is a fundamental challenge in visual understanding, critical for applications in embodied AI and remote collaboration. This task is exceptionally difficult due to severe changes in scale, perspective, and occlusion,
Generating optimal trajectories for high-dimensional robotic systems in a time-efficient manner while adhering to constraints is a challenging task. This letter introduces PHLAME, which applies pseudospectral collocation and spatial vector algebra to efficiently solve the Affine Geometric Heat Flow
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments to prevent harm to humans and avoid damage to nearby objects. Generating these motion plans in real-time is also important to ensure that the robot can adapt to sudden changes in its environmen
Precise manipulation tasks require accurate knowledge of payload inertial parameters. Unfortunately, identifying these parameters for unknown payloads while ensuring that the robotic system satisfies its input and state constraints while avoiding collisions with the environment remains a significant…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion planning and control methods, for instance, must be able to cer
For robotic arms to operate in arbitrary environments, especially near people, it is critical to certify the safety of their motion planning algorithms. However, there is often a trade-off between safety and real-time performance; one can either carefully design safe plans, or rapidly generate poten…