1 citations · 1 across the 16 of their papers we have counts for
16 papers
Privacy-Preserving Semantic Segmentation from High-Resolution Depth and Ultra-Low-Resolution RGB
Xuying Huang, Swithinraj Moses Daniel, Sicong Pan +2
As mobile robots become increasingly integrated into everyday environments, privacy risks arising from onboard cameras have become a growing concern. Ultra-low-resolution (ULR) RGB…
SG-AMP: Scene-Graph-Guided Active Perception and Semantics-Aware Motion Planning for Pepper Plants
Rohit Menon, Shiva Rudra Lolla, Niklas Mueller-Goldingen +3
We present SG-AMP, integrating robust depth completion with input-conditioned uncertainty, persistent panoptic mapping, plant scene-graph reasoning, and semantics-aware active view…
Still image and spatial-temporal tomato data enabling detection, segmentation, tracking, and video-instance segmentation using strong and weak labels
Michael Halstead, Esra Guclu, Mohamed Farag +7
In this manuscript we release two datasets for visual sensing of tomato plants grown in commercial-like settings and acquired using a robot. The first is BUTom21 which consists of…
Implicit Behavior Coordination from Sub-Task Demonstrations by Exploiting Overlap-Induced Multimodality
Ahmed Shokry, Usama Ahmed Siddiquie, Sicong Pan +1
Long-horizon robotic rearrangement is commonly formulated as a skill-sequencing problem, where distinct behaviors are explicitly represented and coordinated by a planner or high-le…
Depth-Only Open-Vocabulary 3D Semantic Segmentation For Privacy-Preserving Robotic Applications
Xuying Huang, Sicong Pan, Maren Bennewitz
Privacy-preserving perception is increasingly important for robotic systems operating in real-world indoor environments, yet it remains underexplored in open-vocabulary 3D semantic…
ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning
Sicong Pan, Hao Hu, Xuying Huang +2
Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty,…
SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
Rohit Menon, Niklas Mueller-Goldingen, Sicong Pan +2
Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which…
Efficient Trajectory Optimization for Autonomous Racing via Formula-1 Data-Driven Initialization
Samir Shehadeh, Lukas Kutsch, Nils Dengler +2
Trajectory optimization is a central component of fast and efficient autonomous racing. However practical optimization pipelines remain highly sensitive to initialization and may c…
Constraint-Aware Reinforcement Learning via Adaptive Action Scaling
Murad Dawood, Usama Ahmed Siddiquie, Shahram Khorshidi +1
Safe reinforcement learning (RL) seeks to mitigate unsafe behaviors that arise from exploration during training by reducing constraint violations while maintaining task performance…
Efficient View Planning Guided by Previous-Session Reconstruction for Repeated Plant Monitoring
Sicong Pan, Luca Lobefaro, Moein Taherkhani +4
Repeated plant monitoring is essential for tracking crop growth, and 3D reconstruction enables consistent comparison across monitoring sessions. However, rebuilding a 3D model from…
Interactive Shaping of Granular Media Using Reinforcement Learning
Benedikt Kreis, Malte Mosbach, Anny Ripke +3
Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials pr…
Privacy-Preserving Semantic Segmentation from Ultra-Low-Resolution RGB Inputs
Xuying Huang, Sicong Pan, Olga Zatsarynna +2
RGB-based semantic segmentation has become a mainstream approach for visual perception and is widely applied in a variety of downstream tasks. However, existing methods typically r…
End-to-End Multi-Task Policy Learning from NMPC for Quadruped Locomotion
Anudeep Sajja, Shahram Khorshidi, Sebastian Houben +1
Quadruped robots excel in traversing complex, unstructured environments where wheeled robots often fail. However, enabling efficient and adaptable locomotion remains challenging du…
Privacy Risks of Robot Vision: A User Study on Image Modalities and Resolution
Xuying Huang, Sicong Pan, Maren Bennewitz
User privacy is a crucial concern in robotic applications, especially when mobile service robots are deployed in personal or sensitive environments. However, many robotic downstrea…
DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction
Sicong Pan, Liren Jin, Xuying Huang +3
Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measu…
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
Yibin Wu, Jian Kuang, Shahram Khorshidi +4
Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDA…