7 papers
Parabolic Position Encoding: Vision-Centric, Principled, Extrapolatable, General
Christoffer Koo Ãhrstrøm, Rafael I. Cabral Muchacho, Yifei Dong +4
We propose Parabolic Position Encoding (PaPE), a parabola-based position encoding for vision modalities in attention-based architectures. Given a set of vision tokens-such as from…
Adaptive Distance Functions via Kelvin Transformation
Rafael I. Cabral Muchacho, Florian T. Pokorny
The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of…
The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned
David Cáceres DomÃnguez, Marco Iannotta, Abhishek Kashyap +21
The first WARA Robotics Mobile Manipulation Challenge, held in December 2024 at ABB Corporate Research in VästerÃ¥s, Sweden, addressed the automation of task-intensive and repetit…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
Alejandro Sánchez Roncero, Rafael I. Cabral Muchacho, Petter Ãgren
Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environmen…
Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions
Rafael I. Cabral Muchacho, Florian T. Pokorny
Geodesic distances play a fundamental role in robotics, as they efficiently encode global geometric information of the domain. Recent methods use neural networks to approximate geo…