21 accepted papers
As autonomous mobile robots begin to populate public spaces, it is becoming increasingly important for robots to accurately distinguish pedestrians and navigate safely to avoid collisions. Texting while walking is a common but hazardous behavior among pedestrians that poses significant challenges fo…
Robot navigation in human-populated environments poses challenges due to the diversity of human behaviors and the unpredictability of human paths. However, existing Reinforcement Learning (RL)-based methods often rely on simulators that lack sufficient diversity in human behavior, resulting in navig…
Acoustic inspection is crucial for infrastructure maintenance, but its effectiveness is often hampered by environmental noise. Conventional denoising methods rely on prior knowledge or training data, limiting their practicability. This paper presents Zero-Shot Denoiser, a novel approach achieving no…
As autonomous mobile robots begin to populate public spaces, it is becoming increasingly important for robots to accurately distinguish pedestrians and navigate safely to avoid collisions. Texting while walking is a common but hazardous behavior among pedestrians that poses significant challenges fo
Robot navigation in human-populated environments poses challenges due to the diversity of human behaviors and the unpredictability of human paths. However, existing Reinforcement Learning (RL)-based methods often rely on simulators that lack sufficient diversity in human behavior, resulting in navig
Sit-to-stand and stand-to-sit motions are important in daily activities. However, elderly individuals often find these motions difficult to perform with declining lower limb strength, which causes a considerable reduction to their quality of life. In this study, a sensing method for controlling robo
This paper proposes a method for generating maps in indoor environments that include transparent objects by using a stereo polarization camera and projector. Conventional sensors like LiDAR and stereo cameras struggle with glass, as they rely on diffuse reflection, while glass allows light to pass t
As the space of causal sequence modeling architectures continues to grow, the need to develop a general framework for their analysis becomes increasingly important. With this aim, we draw insights from classical signal processing and control theory, to develop a quantitative measure of *memory utili…
In recent years, thermal odometry has gained significant attention in mobile robotics for addressing visually degraded scenes. To achieve reasonable robustness and accuracy of thermal odometry, a learning-based image feature extractor and tracker has been proposed. While learning-based methods gener
Acoustic inspection is crucial for infrastructure maintenance, but its effectiveness is often hampered by environmental noise. Conventional denoising methods rely on prior knowledge or training data, limiting their practicability. This paper presents Zero-Shot Denoiser, a novel approach achieving no
This paper proposes a model based on atomic norm minimization for sparse array, which corrects the amplitude-phase errors and estimates direction-of-arrival parameters. The method performs error self-correction by adding the constraint condition of the inverse matrix of the error matrix. In order to…
In recent years, there has been growing interest in the video-based action quality assessment (AQA). Most existing methods typically solve AQA problem by considering the entire video yet overlooking the inherent stage-level characteristics of actions. To address this issue, we design a novel Multi-s…
We approach designing a state-space model for deep learning applications through its dual representation, the *transfer function*, and uncover a highly efficient sequence parallel inference algorithm that is *state-free*: unlike other proposed algorithms, state-free inference does not incur any sign…
This letter presents Switch-SLAM, switching-based LiDAR-inertial-visual SLAM for degenerate environments, designed to tackle the challenges in degenerate environments for LiDAR and visual SLAM. Switch-SLAM achieves high robustness and accuracy by utilizing a switching structure that transitions from
Prompt-tuning based few-shot learning has garnered increasing attention in recent years due to its efficiency and promising capability. To achieve the best performance for NLP tasks with just a few samples, it is vital to include as many informative samples as possible and to avoid misleading ones.…
Mobile robot navigation in a human-populated environment has been of great interest to the research community in recent years, referred to as crowd navigation. Currently, offline reinforcement learning (RL)-based method has been introduced to this domain, for its ability to alleviate the sim2real ga…
Exoskeleton robots need to always actively assist the user’s movements otherwise robot just becomes a heavy load for the user. However, estimating diversified movement intentions in a user’s daily life is not easy and no algorithm so far has achieved that level of estimation. In this s
This study develops a training system for a multimodal comprehensive care methodology for dementia patients called Humanitude. Humanitude has attracted much attention as a gentle and effective care technique. It consists of four main techniques, namely, eye contact, verbal communication, touch, and…
Sit-to-stand (STS) motion is an important daily activity and many post-stroke patients have difficulty in performing the STS motion. Post-stroke patients who can perform STS independently, still utilize four muscle synergies (synchronized muscle activation) as seen in healthy people. In addition, te
Stroke patients suffer from declined physical ability, and it is important to analyze rehabilitation intervention and clarify its effect on the motion of patients. In this study, the effect of intervention on the standing-up motion of stroke patients is investigated. First, the intervention timing o
It is important to understand the mechanism of human standing-up motion to improve the declined physical ability of the elderly people. This study employs the concept of muscle synergies (modular structure of coordinative muscle activation) to understand how humans coordinate their muscles to achiev…