2 citations · 3 across the 11 of their papers we have counts for
7 papers · 1 filter
Outlier-Robust Training of Machine Learning Models
Rajat Talak, Charis Georgiou, Jingnan Shi +1
Robust training of machine learning models in the presence of outliers has garnered attention across various domains. The use of robust losses is a popular approach and is known to…
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft
Sandeep Banik, Jinrae Kim, Naira Hovakimyan +3
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobi…
CUPS: Improving Human Pose-Shape Estimators with Conformalized Deep Uncertainty
Harry Zhang, Luca Carlone
We introduce CUPS, a novel method for learning sequence-to-sequence 3D human shapes and poses from RGB videos with uncertainty quantification. To improve on top of prior work, we d…
CRISP: Object Pose and Shape Estimation with Test-Time Adaptation
Jingnan Shi, Rajat Talak, Harry Zhang +2
We consider the problem of estimating object pose and shape from an RGB-D image. Our first contribution is to introduce CRISP, a category-agnostic object pose and shape estimation…
CHAMP: Conformalized 3D Human Multi-Hypothesis Pose Estimators
Harry Zhang, Luca Carlone
We introduce CHAMP, a novel method for learning sequence-to-sequence, multi-hypothesis 3D human poses from 2D keypoints by leveraging a conditional distribution with a diffusion mo…
GMKF: Generalized Moment Kalman Filter for Polynomial Systems with Arbitrary Noise
Sangli Teng, Harry Zhang, David Jin +3
This paper develops a new filtering approach for state estimation in polynomial systems corrupted by arbitrary noise, which commonly arise in robotics. We first consider a batch se…
Multi-Model 3D Registration: Finding Multiple Moving Objects in Cluttered Point Clouds
David Jin, Sushrut Karmalkar, Harry Zhang +1
We investigate a variation of the 3D registration problem, named multi-model 3D registration. In the multi-model registration problem, we are given two point clouds picturing a set…