16 papers
ToaSt: Token Channel Selection and Structured Pruning for Efficient ViT
Hyunchan Moon, Cheonjun Park, Steven L. Waslander
Vision Transformers (ViTs) have achieved remarkable success across various vision tasks, yet their deployment is often hindered by prohibitive computational costs. While structured…
Fixed-Time Dynamic Landing of Quadrotors using Adaptive Unscented Kalman Filtering and Nonlinear Model Predictive Control
Mohammadreza Izadi, Zeinab Shayan, Steven Waslander +1
This paper introduces an estimation and control framework for dynamic landing of multi-rotor uncrewed aerial vehicles on moving platforms. The proposed method integrates nonlinear…
Contour Refinement using Discrete Diffusion in Low Data Regime
Fei Yu Guan, Ian Keefe, Sophie Wilkinson +2
Boundary detection of irregular and translucent objects is an important problem with applications in medical imaging, environmental monitoring and manufacturing, where many of thes…
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia +3
LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned…
A Photorealistic Dataset and Vision-Based Algorithm for Anomaly Detection During Proximity Operations in Lunar Orbit
Selina Leveugle, Chang Won Lee, Svetlana Stolpner +4
NASA's forthcoming Lunar Gateway space station, which will be uncrewed most of the time, will need to operate with an unprecedented level of autonomy. One key challenge is enabling…
FlowCLAS: Enhancing Normalizing Flow Via Contrastive Learning For Anomaly Segmentation
Chang Won Lee, Selina Leveugle, Svetlana Stolpner +4
Anomaly segmentation is an essential capability for safety-critical robotics applications that must be aware of unexpected events. Normalizing flows (NFs), a class of generative mo…