9 papers
NVIDIA Isaac Sim: Enabling Scalable, GPU-Accelerated Simulation for Robotics
Sicong Gao, Maurice Pagnucco, Tomasz Bednarz +1
Simulation has become a core infrastructure for robotics research. Unlike previous simulators, NVIDIA Isaac Sim leverages GPU acceleration to enable large-scale parallel training a…
Reinforcement Learning for Follow-the-Leader Robotic Endoscopic Navigation via Synthetic Data
Sicong Gao, Chen Qian, Laurence Xian +3
Autonomous navigation is crucial for both medical and industrial endoscopic robots, enabling safe and efficient exploration of narrow tubular environments without continuous human…
Principles2Plan: LLM-Guided System for Operationalising Ethical Principles into Plans
Tammy Zhong, Yang Song, Maurice Pagnucco
Ethical awareness is critical for robots operating in human environments, yet existing automated planning tools provide little support. Manually specifying ethical rules is labour-…
Temporal Alignment of Time Sensitive Facts with Activation Engineering
Sanjay Govindan, Maurice Pagnucco, Yang Song
Large Language Models (LLMs) are trained on diverse and often conflicting knowledge spanning multiple domains and time periods. Some of this knowledge is only valid within specific…
Vision-based Multi-future Trajectory Prediction: A Survey
Renhao Huang, Hao Xue, Maurice Pagnucco +2
Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the ye…
Prototype-Based Image Prompting for Weakly Supervised Histopathological Image Segmentation
Qingchen Tang, Lei Fan, Maurice Pagnucco +1
Weakly supervised image segmentation with image-level labels has drawn attention due to the high cost of pixel-level annotations. Traditional methods using Class Activation Maps (C…