74 citations · 227 across the 87 of their papers we have counts for
64 papers · 1 filter
GINIO: A Geometric SO(3)-Equivariant Interface for Neural Inertial Odometry
Chankyo Kim, Minghan Zhu, Tzu-Yuan Lin +2
Neural inertial odometry increasingly uses networks as learned measurements inside filtering pipelines. Such measurements should transform consistently under arbitrary IMU mounting…
LapaTrack-3D: 6 DoF pre-operative shape tracking for laparoscopic surgery
Jingwei Song, Javid Hussain Jakir, Ray Zhang +4
This work proposes a real-time 6 Degree-of-Freedom (6 DoF) tracking algorithm for monocular laparoscopic surgery. It provides alignment between intra-operative video and pre-operat…
Cyclops: LiDAR as a Camera That Dreams in Color
Wei Gao, Jian Shu, Mingle Zhao +4
Conventionally, robotic perception relies heavily on cameras due to the rich semantic texture they provide. However, their performance degrades significantly in low-light or high-d…
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
Duong Le, Ryan Posh, Shihao Cheng +2
Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on tim…
NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
Junzhe Wu, Yue Hu, Zeyu Han +4
Robots deployed in delivery, campus, and emergency-response settings often need to navigate from buildings to streets within a single continuous episode. Existing benchmarks usuall…
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…
Distributed Pose Graph Optimization via Continuous Riemannian Dynamics
Jaeho Shin, Maani Ghaffari, Yulun Tian
We present a framework for distributed Pose Graph Optimization (PGO) by formulating the problem as a second-order continuous-time dynamical system evolving on Lie groups. By modeli…
A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
I-Chia Chang, Xinyan Huang, Tzu-Yuan Lin +5
Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting…
SignNav: Leveraging Signage for Semantic Visual Navigation in Large-Scale Indoor Environments
Jian Sun, Yuming Huang, He Li +6
Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals…
Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network
Wenzhe Tong, Yicheng Jiang, Chi Zhang +2
Tensegrity robots possess lightweight and resilient structures but present significant challenges for state estimation due to compliant and distributed ground contacts. This paper…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
Shuqi Xiao, Maani Ghaffari, Chengzhong Xu +1
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical solutions mainly focus o…
LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigation
Yue Hu, Avery Xi, Qixin Xiao +4
This paper develops LongNav-R1, an end-to-end multi-turn reinforcement learning (RL) framework designed to optimize Visual-Language-Action (VLA) models for long-horizon navigation.…
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie groups
Luís Marques, Maani Ghaffari, Dmitry Berenson
We propose Conformal Lie-group Action Prediction Sets (CLAPS), a symmetry-aware conformal prediction-based algorithm that constructs, for a given action, a set guaranteed to contai…
Robust Trajectory Tracking of Autonomous Surface Vehicle via Lie Algebraic Online MPC
Yinan Dong, Ziyu Xu, Tsimafei Lazouski +2
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine…
Ego-Vision World Model for Humanoid Contact Planning
Hang Liu, Yuman Gao, Sangli Teng +5
Enabling humanoid robots to exploit physical contact, rather than simply avoid collisions, is crucial for autonomy in unstructured environments. Traditional optimization-based plan…
Equi-RO: A 4D mmWave Radar Odometry via Equivariant Networks
Zeyu Han, Shuocheng Yang, Minghan Zhu +4
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as…
Super LiDAR Intensity for Robotic Perception
Wei Gao, Jie Zhang, Mingle Zhao +6
Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, whic…
Imaginative World Modeling with Scene Graphs for Embodied Agent Navigation
Yue Hu, Junzhe Wu, Ruihan Xu +5
Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes befor…
GPS-DRIFT: Marine Surface Robot Localization using IMU-GPS Fusion and Invariant Filtering
Surya Pratap Singh, Tsimafei Lazouski, Maani Ghaffari
This paper presents an extension of the DRIFT invariant state estimation framework, enabling robust fusion of GPS and IMU data for accurate pose and heading estimation. Originally…
Max Entropy Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +4
Designing optimal Bayes filters for nonlinear non-Gaussian systems is a challenging task. The main difficulties are: 1) representing complex beliefs, 2) handling non-Gaussian noise…
Riemannian Direct Trajectory Optimization of Rigid Bodies on Matrix Lie Groups
Sangli Teng, Tzu-Yuan Lin, William A Clark +2
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. Although direct trajectory optimization is widely applied to solve this problem,…
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics
Ben Liu, Tzu-Yuan Lin, Wei Zhang +1
This paper develops a deep learning approach to the online debiasing of IMU gyroscopes and accelerometers. Most existing methods rely on implicitly learning a bias term to compensa…
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding
Hang Liu, Sangli Teng, Ben Liu +2
Hybrid dynamical systems, which include continuous flow and discrete mode switching, can model robotics tasks like legged robot locomotion. Model-based methods usually depend on pr…