7 accepted papers
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using sensor observations. Recent approaches employ human-inspired lear
Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capture second-order trajectory dynamics, incorporating acceleration effects either explicitly in the model or implicitly th
Liquid phase change pouch actuators (liquid pouch motors) hold great promise for a wide range of robotic applications, from artificial organs to pneumatic manipulators for dexterous manipulation. However, the usability of liquid pouch motors remains challenging due to the nonlinear intrinsic propert
Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many methods have been proposed to deal with this problem; however, the moving properties of dynamic objects with a moving camera r…
Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisely with given tasks. Mobile robots, especially, usually use lightweight networks to…
Calibration is the first and foremost step in dealing with sensor displacement errors that can appear during extended operation and off-time periods to enable robot object manipulation with precision. In this paper, we present a novel multiplanar self-calibration between the camera system and the ro…
In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sensor. The metric combines the disjoint sections of an observed surface to focus on high-detail features such as holes and concave se…