18 papers · 1 filter
Efficient Continuous Semantic Mapping based on Spatio-Temporal Awareness
My Le Pham, Dinh Trieu Duong, Xiem HoangVan +1
Continuous semantic mapping allows autonomous robots to understand both the spatial structure and the semantic content of complex environments. However, most existing methods proce…
Semantic-Aware Autonomous Exploration for UAVs in Unknown Indoor Environments
Duc-Thien Nguyen, Ngoc Minh Do, Xiem HoangVan +1
Autonomous exploration in unknown environments requires unmanned aerial vehicles (UAVs) to efficiently generate informative trajectories while simultaneously constructing accurate…
WaveSync: Constrained Wavefront Optimization for Synchronized Co-Speech Gestures in Humanoid Robots
Thang Tran Viet, Thanh Nguyen Canh, Gia Huy Uong +4
Expressive co-speech gestures are crucial for natural human-robot interaction, but generating them on physical humanoid robots is difficult because gesture strokes must align with…
OSDAG: Online Scheduling for Efficient Multi-Robot Collaboration
Thanh Nguyen Canh, Thang Tran Viet, Phuc Van Dinh +2
Coordinating heterogeneous multi-robot systems (MRS) for complex, long-horizon tasks requires both flexible high-level reasoning and efficient low-level scheduling. Existing LLM-ba…
BPDA-GMM: Bayesian Probabilistic Data Association via Gaussian Mixture Models for Semantic SLAM
Thanh Nguyen Canh, Haolan Zhang, Xiem HoangVan +2
Probabilistic data association (PDA) improves semantic SLAM in perceptually aliased scenes, but existing methods often assume a fixed landmark set, recompute association weights as…
Hybrid TD3: Overestimation Bias Analysis and Stable Policy Optimization for Hybrid Action Space
Thanh-Tuan Tran, Thanh Nguyen Canh, Nak Young Chong +1
Reinforcement learning in discrete-continuous hybrid action spaces presents fundamental challenges for robotic manipulation, where high-level task decisions and low-level joint-spa…