9 papers
Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids
Xiao Ren, Yuhui Yang, Zongbiao Weng +2
Recent reinforcement learning approaches have shown great promise in improving humanoid motion tracking performance and achieving fall recovery under disturbances. However, most ex…
MUSCLE-NET: Predicted-Multiscale-Aware Network for Pedestrian Trajectory Forecasting
Yu Liu, Ming Huang, Xiao Ren +3
Accurate pedestrian trajectory prediction is essential for safe navigation in autonomous driving and intelligent transportation systems. Despite substantial progress made by recent…
GSM-GS: Geometry-Constrained Single and Multi-view Gaussian Splatting for Surface Reconstruction
Xiao Ren, Yu Liu, Ning An +3
Recently, 3D Gaussian Splatting has emerged as a prominent research direction owing to its ultrarapid training speed and high-fidelity rendering capabilities. However, the unstruct…
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal +11
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that ca…
Listen to Extract: Onset-Prompted Target Speaker Extraction
Pengjie Shen, Kangrui Chen, Shulin He +5
We propose listen to extract (LExt), a highly-effective while extremely-simple algorithm for monaural target speaker extraction (TSE). Given an enrollment utterance of a target spe…
Occlusion-Aware Diffusion Model for Pedestrian Intention Prediction
Yu Liu, Zhijie Liu, Zedong Yang +2
Predicting pedestrian crossing intentions is crucial for the navigation of mobile robots and intelligent vehicles. Although recent deep learning-based models have shown significant…