17 accepted papers
We present a novel unsupervised framework to unlock vast unlabeled human demonstration data from continuous industrial video streams for Vision-Language-Action (VLA) model pre-training. Our method first trains a lightweight motion tokenizer to encode motion dynamics, then employs an unsupervised act
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the issue of scalability for such approaches has received some …
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the issue of scalability for such approaches has received some
Humans exhibit diverse and expressive whole-body movements. However, attaining human-like whole-body coordination in humanoid robots remains challenging, as conventional approaches that mimic whole-body motions often neglect the distinct roles of upper and lower body. This oversight leads to computa…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and physical distances but also by integrating external informat
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to grasp the door handle. Successfully grasping an object during h
In this paper, we introduce RealDex, a pioneering dataset capturing authentic dexterous hand grasping motions infused with human behavioral patterns, enriched by multi-view and multimodal visual data. Utilizing a teleoperation system, we seamlessly synchronize human-robot hand poses in real time. Th…
Lifelong indoor localization in a given map is the basis for navigation of autonomous mobile robots. In this letter, we address the problem of robust localization in cluttered indoor environments like office spaces and corridors using 3D LiDAR point clouds in a given Area Graph, which is a hierarchi
Given a building floorplan, humans can localize themselves by matching the observation of the environment with the floorplan using geometric, semantic, and topological clues. Inspired by this insight, this paper proposes a learning- based topometric robot localization method FloorplanNet, which impl…
With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation (eFMT) is an image registration approach that can be applied to…
Parkour is a grand challenge for legged locomotion that requires robots to overcome various obstacles rapidly in complex environments. Existing methods can generate either diverse but blind locomotion skills or vision-based but specialized skills by using reference animal data or complex rewards. Ho…
Benchmarking Simultaneous Localization and Mapping (SLAM) algorithms is important to scientists and users of robotic systems alike. But through their many configuration options in hardware and software, SLAM systems feature a vast parameter space that scientists up to now were not able to explore. T…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their calibration. We present a novel solution which relies on the…
Spatiotemporal calibration of sensors, especially of those which do not share their fields of view, is becoming increasingly important in the fields of autonomous driving and robotics. This paper presents a general sensor calibration method, named Multical, that makes use of multiple planar calibrat…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating manipulation and mapping. State-of-the-art navigation in com…
We propose a novel pose estimation method for geometric vision of omni-directional cameras. On the basis of the regularity of the pixel movement after camera pose changes, we formulate and prove the sinusoidal relationship between pixels movement and camera motion. We use the improved Fourier-Mellin…
Hand-eye calibration is a well-known calibration problem. The problem assumes that a camera (eye) is rigidly mounted to the gripper (hand) of a robot arm and aims to find the transformation between them. In this paper, we propose a novel pipeline for hand-eye calibration without the use of a calibra…