4 papers
DAOS: A Multimodal In-cabin Behavior Monitoring with Driver Action-Object Synergy Dataset
Yiming Li, Chen Cai, Tianyi Liu +6
Multimodal action understanding requires complementary sensory observations to be connected with structured semantic knowledge. This is particularly challenging in vehicle cabins,…
NMPC-based Motion Planning with Adaptive Weighting for Dynamic Object Interception
Chen Cai, Saksham Kohli, Steven Liu
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particular…
RTMap: Real-Time Recursive Mapping with Change Detection and Localization
Yuheng Du, Sheng Yang, Lingxuan Wang +6
While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and a…
MPC-based Coarse-to-Fine Motion Planning for Robotic Object Transportation in Cluttered Environments
Chen Cai, Ernesto Dickel Saraiva, Ya-jun Pan +1
This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception…