10 accepted papers
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of dynamic obstacles and model predictive control to incorporate t…
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance strategies based only on the current states of the obstacles, riski
Open-vocabulary 3D understanding aims to align 3D representations with a unified vision-language semantic space. However, existing methods suffer from the challenge of structural asymmetry caused by sparse observations and holistic geometries. Additionally, the inherent semantic chasm between discre
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of dynamic obstacles and model predictive control to incorporate t
For safe and flexible navigation in multi-robot systems, this paper presents an enhanced and predictive sampling-based trajectory planning approach in complex environments, the Gradient Field-based Dynamic Window Approach (GF-DWA). Building upon the dynamic window approach, the proposed method utili
In semi-supervised medical image segmentation, two main challenges arise. First, the quality of pseudo-labels generated by segmentation networks in data-limited scenarios is often poor, reducing segmentation accuracy. Second, many methods fail to effectively utilize the temporal context in video dat…
Efficient motion planning and control for multiple mobile robots in industrial automation and indoor logistics face challenges such as trajectory generation and collision avoidance in complex environments. We propose a hybrid, sequential method combining Bird’s-Eye-View vision-based continuous Deep…
To explore safe interactions between a mobile robot and dynamic obstacles, this letter presents a comprehensive approach to collision-free navigation in dynamic indoor environments. The approach integrates Multimodal Motion Predictions (MMPs) of dynamic obstacles with predictive control for obstacle
Adversarial attack serves as a major challenge for neural network models in NLP, which precludes the model's deployment in safety-critical applications. A recent line of work, detection-based defense, aims to distinguish adversarial sentences from benign ones. However, {the core limitation of previo…
Existing face relighting methods often struggle with two problems: maintaining the local facial details of the subject and accurately removing and synthesizing shadows in the relit image, especially hard shadows. We propose a novel deep face relighting method that addresses both problems. Our method…