3 citations · 9 across the 22 of their papers we have counts for
27 papers
Continual Humanoid Motion Learning
Zhewen He, Hao Huang, Geeta Chandra Raju Bethala +4
Humanoid whole-body controllers can now track a diverse set of dynamic motions, but they are typically trained offline and then frozen, so teaching such a controller a new skill te…
Local Path Planning and Obstacle Avoidance for an Omnicopter Platform
Mikolaj Helinski, Spilios Theodoulis, Mahmoud Hamandi +3
Autonomous unmanned aerial vehicles (UAVs) increasingly operate in cluttered environments where global planners such as RRT* are not directly deployable at control rates. This pape…
Focus Where It Counts: A Salience-Driven Vision-Language Model for Low Vision Assistance
Jiazhao Liang, Hao Huang, Shuaihang Yuan +8
Vision-language models (VLMs) are rapidly progressing and offer promising capabilities for assistive technologies supporting persons with blindness or low vision. However, existing…
Anytime Primal--Dual Certification of the Maximum Disturbance Radius in Robust MPC
Wenqi Cai, Muhammad Bakr Abdelghany, Kyriakos G. Vamvoudakis +1
Adjustable-set robust model predictive control (MPC) characterizes a state-dependent maximum disturbance radius, which can be interpreted as a certified robustness reserve. Existin…
Dual Stress: Runtime Safety Monitoring for Safety-Constrained MPC Navigation
Jamil Chahine, Wenqi Cai, John Abanes +1
Runtime hazard monitors for autonomous naviga- tion are conventionally built from geometric quantities: predicted clearance, time to collision, and required deceleration. A model-p…
Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics
Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3
Computing distances between sets is essential in robotic motion planning and control, where differentiable gradients enable real-time optimization. The Euclidean Signed Distance Fu…
Learning Adaptive Safety Margins for Visual Navigation
Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala +2
Robots in cluttered indoor spaces often fail not because they cannot generate collision-free paths, but because a fixed safety margin is mis-calibrated: conservative margins cause…
Immersive Social Interaction with VR and LLM-Assisted Humanoids
Niraj Pudasaini, Geeta Chandra Raju Bethala, Pranav Doma +2
Humanoid robots can extend human presence to remote, constrained, or hazardous environments, but existing teleoperation interfaces often require physically demanding motion trackin…
Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
Wenqi Cai, John Abanes, Nikolaos Evangeliou +1
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movement…
Cost-Matching Model Predictive Control for Efficient Reinforcement Learning in Humanoid Locomotion
Wenqi Cai, Kyriakos G. Vamvoudakis, Sébastien Gros +1
In this paper, we propose a cost-matching approach for optimal humanoid locomotion within a Model Predictive Control (MPC)-based Reinforcement Learning (RL) framework. A parameteri…
AudioScene: Integrating Object-Event Audio into 3D Scenes
Shuaihang Yuan, Congcong Wen, Muhammad Shafique +2
The rapid advances in audio analysis underscore its vast potential for humancomputer interaction, environmental monitoring, and public safety; yet, existing audioonly datasets ofte…
One-shot Adaptation of Humanoid Whole-body Motion with Walking Priors
Hao Huang, Geeta Chandra Raju Bethala, Shuaihang Yuan +4
Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing metho…
A Consensus Algorithm for Second-Order Systems Evolving on Lie Groups
Akhil B Krishna, Farshad Khorrami, Anthony Tzes
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The…
SLAM-based Safe Indoor Exploration Strategy
Omar Mostafa, Nikolaos Evangeliou, Anthony Tzes
This paper suggests a 2D exploration strategy for a planar space cluttered with obstacles. Rather than using point robots capable of adjusting their position and altitude instantly…
Wavelet Policy: Lifting Scheme for Policy Learning in Long-Horizon Tasks
Hao Huang, Shuaihang Yuan, Geeta Chandra Raju Bethala +3
Policy learning focuses on devising strategies for agents in embodied artificial intelligence systems to perform optimal actions based on their perceived states. One of the key cha…
A Differentiable Distance Metric for Robotics Through Generalized Alternating Projection
Vinicius M. Gonçalves, Shiqing Wei, Eduardo Malacarne S. de Souza +3
In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control bar…
FastMap: Real-Time Semantic Map Completion via Bitwise Masked Modeling
Yijie Deng, Shuaihang Yuan, Congcong Wen +4
Semantic map completion, which predicts the layout of unobserved regions from partial observations, is a critical capability for indoor robot navigation. Existing approaches either…
Hierarchical Scoring with 3D Gaussian Splatting for Instance Image-Goal Navigation
Yijie Deng, Shuaihang Yuan, Geeta Chandra Raju Bethala +3
Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. W…
H2-COMPACT: Human-Humanoid Co-Manipulation via Adaptive Contact Trajectory Policies
Geeta Chandra Raju Bethala, Hao Huang, Niraj Pudasaini +5
We present a hierarchical policy-learning framework that enables a legged humanoid to cooperatively carry extended loads with a human partner using only haptic cues for intent infe…
GAMap: Zero-Shot Object Goal Navigation with Multi-Scale Geometric-Affordance Guidance
Shuaihang Yuan, Hao Huang, Yu Hao +3
Zero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often le…
Reliable Semantic Understanding for Real World Zero-shot Object Goal Navigation
Halil Utku Unlu, Shuaihang Yuan, Congcong Wen +3
We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. T…
Exploring the Reliability of Foundation Model-Based Frontier Selection in Zero-Shot Object Goal Navigation
Shuaihang Yuan, Halil Utku Unlu, Hao Huang +3
In this paper, we present a novel method for reliable frontier selection in Zero-Shot Object Goal Navigation (ZS-OGN), enhancing robotic navigation systems with foundation models t…
RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
Omar Rayyan, Vinicius Gonçalves, Nikolaos Evangeliou +1
This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Sur…
Socially-Aware Robot Navigation Enhanced by Bidirectional Natural Language Conversations Using Large Language Models
Congcong Wen, Yifan Liu, Geeta Chandra Raju Bethala +7
Robot navigation is crucial across various domains, yet traditional methods focus on efficiency and obstacle avoidance, often overlooking human behavior in shared spaces. With the…