12 papers
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…
Decoupled Object-Centric Video Understanding for Generating Robotic Manipulation Commands
Thanh Nguyen Canh, Thanh-Tuan Tran, Haolan Zhang +3
Translating video demonstrations into executable robot commands remains challenging because existing methods often fail to identify which objects are functionally involved in the d…
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…
Con-DSO: Learning Short-Horizon Consistency Priors for RGB-D Direct Sparse Odometry
Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +3
Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging enviro…
Human-to-Robot Interaction: Learning from Video Demonstration for Robot Imitation
Thanh Nguyen Canh, Thanh-Tuan Tran, Haolan Zhang +3
Learning from Demonstration (LfD) offers a promising paradigm for robot skill acquisition. Recent approaches attempt to extract manipulation commands directly from video demonstrat…