14 accepted papers
In this work, we propose a novel lightweight and efficient multi-goal path planning (MGPP) framework tailored for complex environments with obstacles. The framework adopts a hierarchical architecture consisting of two layers: a visiting order decision layer and an incremental sampling-based planning
6-DoF object grasping is a crucial skill for embodied intelligent robots. Previous methods often rely on large-scale networks for feature extraction, followed by grasp pose prediction, which increases the network
Object pose estimation is a key task for embodied robots, enabling them to interact with objects effectively. Category-level object pose estimation provides a way for robots to estimate the pose of unknown objects. However, estimating object pose from point clouds alone remains challenging. In this
This letter presents an improved multidimensional filter bank canonical correlation analysis (FBCCA) method for the brain-computer interface (BCI) system based on steady-state visual evoked potentials (SSVEP). This is a training-free SSVEP recognition method based on FBCCA, which integrates partial
We propose a convex model predictive control (MPC) scheme for a class of affine input systems to reduce the dependence on terminal components and improve real-time control capability. Artificial reference variables are introduced to handle unreachable references, and the terminal set constraint is r
Safe reinforcement learning (RL) aims to learn policy while also ensuring the safety constraints. An increasingly common approach is to design a safety filter based on control barrier function (CBF) or high order control barrier function (HOCBF) for the RL policy. A quadratic programming (QP) is the
Category-level object pose estimation is an important task in computer vision. Some prior methods based on assumptions often struggle with drastic changes in object appearance. To address this challenge, we propose a new method for object pose estimation based on object-adaptive keypoints. In this p…
In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This paper presents a Light Reflection Heuristic RRT<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation=
While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose estimation approach that relies solely on RGB images. This metho
The fusion of event cameras and conventional frame cameras is a novel research field, and a stereo structure consisting of an event camera and a frame camera can incorporate the advantages of both. This letter develops a dynamic calibration framework for the event-frame stereo camera system. In this
This letter proposes an adaptive high-order control barrier function-based iterative linear quadratic regulator (AHOCBF-ILQR) algorithm for real time safety-critical motion planning. Firstly, we propose a HOCBF-ILQR method, where a HOCBF-based controller is designed as a safety filter of ILQR to gua
Although there has been significant progress in category-level object pose estimation in recent years, there is still considerable room for improvement. In this paper, we propose a novel transformer-based category-level 6D pose estimation method called CatFormer to enhance the accuracy pose estimat…
Probabilistic time series modeling based on generative models has attracted lots of attention because of its wide applications and excellent performance. However, existing state-of-the-art models, based on stochastic differential equation, not only struggle to determine the drift and diffusion coeff…
In this letter, a novel grasp detection neural network Squeeze-and-Excitation ResUNet (SE-ResUNet) is developed, where the residual block with the channel attention is integrated. The proposed framework can not only generate the grasp pose from the RGB-D images, but also predict the quality score of