15 papers
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…
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…
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, yet generating them on physical humanoid robots remains challenging because, unlike virtual avatars,…
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 execution-time scheduling. Existing L…
Con-DSO: Learning Short-Horizon Consistency Priors for RGB-D Direct Sparse Odometry
Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +3
RGB-D direct visual odometry (VO) benefits from metric depth measurements but often degrades in the presence of dynamic objects, occlusions, illumination changes, and unreliable de…
Hybrid TD3: Overestimation Bias Analysis and Stable Policy Optimization for Hybrid Action Space
Thanh-Tuan Tran, Thanh Nguyen Canh, Nak Young Chong +1
Reinforcement learning in discrete-continuous hybrid action spaces presents fundamental challenges for robotic manipulation, where high-level task decisions and low-level joint-spa…
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…
A Survey on Collaborative SLAM with 3D Gaussian Splatting
Phuc Nguyen Xuan, Thanh Nguyen Canh, Huu-Hung Nguyen +2
This survey comprehensively reviews the evolving field of multi-robot collaborative Simultaneous Localization and Mapping (SLAM) using 3D Gaussian Splatting (3DGS). As an explicit…
Semantic Visual Simultaneous Localization and Mapping: A Survey on State of the Art, Challenges, and Future Directions
Thanh Nguyen Canh, Haolan Zhang, Xiem HoangVan +1
Semantic Simultaneous Localization and Mapping (SLAM) is a critical area of research within robotics and computer vision, focusing on the simultaneous localization of robotic syste…
IL-SLAM: Intelligent Line-assisted SLAM Based on Feature Awareness for Dynamic Environments
Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +3
Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handl…
SR-SLAM: Scene-reliability Based RGB-D SLAM in Diverse Environments
Haolan Zhang, Chenghao Li, Thanh Nguyen Canh +2
Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navig…
Adaptive Prior Scene-Object SLAM for Dynamic Environments
Haolan Zhang, Thanh Nguyen Canh, Chenghao Li +1
Visual Simultaneous Localization and Mapping (SLAM) plays a vital role in real-time localization for autonomous systems. However, traditional SLAM methods, which assume a static en…
IRAF-SLAM: An Illumination-Robust and Adaptive Feature-Culling Front-End for Visual SLAM in Challenging Environments
Thanh Nguyen Canh, Bao Nguyen Quoc, Haolan Zhang +3
Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying…
Toward Integrating Semantic-aware Path Planning and Reliable Localization for UAV Operations
Thanh Nguyen Canh, Huy-Hoang Ngo, Xiem HoangVan +1
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and appl…
Enhancing Social Robot Navigation with Integrated Motion Prediction and Trajectory Planning in Dynamic Human Environments
Thanh Nguyen Canh, Xiem HoangVan, Nak Young Chong
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrati…