11 accepted papers
Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing approaches lack common-sense reasoning and are typically designed…
Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing approaches lack common-sense reasoning and are typically designed
We present a novel recursive Bayesian estimation framework using B-splines for continuous-time 6-DoF dynamic motion estimation. The state vector consists of a recurrent set of position control points and orientation control point increments, enabling efficient estimation via a modified iterated exte…
Graph Neural Networks (GNNs) achieve strong performance in node classification tasks but exhibit substantial performance degradation under label noise. Despite recent advances in noise-robust learning, a principled approach that exploits the node-neighbor interdependencies inherent in graph data for…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to particular robots, objects, simulators, and environments. IRIS a…
Graph Neural Networks (GNNs) excel in many applications but struggle when trained with noisy labels, especially as noise can propagate through the graph structure. Despite recent progress in developing robust GNNs, few methods exploit the intrinsic properties of graph data to filter out noise. In th
Transductive node prediction has been a popular learning setting in Graph Neural Networks (GNNs). It has been widely observed that the shortage of information flow between the distant nodes and intra-batch nodes (for large-scale graphs) often hurt the generalization of GNNs which overwhelmingly adop…
We introduce a novel framework of continuous-time ultra-wideband-inertial sensor fusion for online motion estimation. Quaternion-based cubic cumulative B-splines are exploited for parameterizing motion states continuously over time. Systematic derivations of analytic kinematic interpolations and spa
Graph Neural Networks (GNNs) have demonstrated superior performance in numerous real-world applications. Despite their success, recent studies have shown that GNNs are vulnerable under edge inference attacks aimed to infer the connectivity of a given pair of nodes. However, existing methods primaril…
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backend, a hierarchical keyframe-based sliding window o
We present a novel region growing algorithm for plane extraction of organized point clouds using the spherical convex hull. Instead of explicit plane parameterization, our approach interprets potential underlying planes as a series of geometric constraints on the sphere that are refined during regio…