3 citations · 9 across the 22 of their papers we have counts for
9 papers · 1 filter
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…