RS2AD-LiDAR reconstructs vehicle LiDAR data from roadside observations via coordinate transformation, virtual LiDAR modeling and resampling, claimed as the first such method, with experiments showing improved object detection when mixed with real data.
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Gupta, Ondrej Miksik, Vibhav Vineet, Pascal Fua, and Ashish Kapoor
Canonical reference. 80% of citing Pith papers cite this work as background.
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representative citing papers
GRCA uses emitter-centric geometric culling of rays per triangle to accelerate LiDAR simulation in arbitrarily dynamic scenes, reporting up to 14.55x speedup over Embree and 7.97x over OptiX.
SpUDD defines superpower contours from power diagrams of unsigned distance samples, proves convergence to the true surface, and uses them to generate approximating polygonal meshes that outperform prior strategies.
SARR modifies trigonometric rotation encodings with object symmetry orders to produce unique continuous poses, enabling standard CNNs to outperform existing methods on symmetry-aware 6D pose estimation without custom losses or 3D models.
The virtual object MPC framework enables stable shared teleoperation for transporting up to nine objects, cutting sliding distance by 72.45% and eliminating tip-overs compared to baseline.
ReV is a referring-aware visuomotor policy using coupled diffusion heads for real-time trajectory replanning in robotic manipulation, trained solely via targeted perturbations to expert demonstrations and achieving higher success rates in simulated and real tasks.
MIMPC delivers better fuel efficiency and guaranteed stability for binary thrusters in low-thrust regimes than continuous MPC with modulation, while a modulator-informed continuous variant narrows the performance gap.
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.
MAG-VLAQ fuses multi-modal ground and aerial data via ODE-conditioned vector-of-locally-aggregated-queries to nearly double recall@1 on aerial-ground place recognition benchmarks.
Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.
Wi2SAR is a drone-based wireless system that locates wilderness victims by exploiting automatic Wi-Fi reconnection on their mobile devices, using a 3D-printed Luneburg Lens for direction finding and adaptive navigation.
SutureFormer models needle tip movement in video as sequential pixel-space actions via goal-conditioned offline RL with spline-based reward densification, cutting average displacement error by 58.6% on a new 1,158-trajectory kidney suturing dataset.
A co-design framework learns task-specific hand shapes and complementary control policies, supporting design, training, fabrication, and deployment of new dexterous hands in under 24 hours.
A computer vision pipeline assesses urban tree branches for drone perching suitability on width, slope and curvature, achieving 76% success on feasible targets from over 10,000 images.
A second-order ToM agent using I-POMDP models human erroneous beliefs and cognitive biases to generate adaptive feedback that improves interaction informativeness.
Screw-based motion planning extracted from single demonstrations enables robots to autonomously execute long-horizon nanoparticle synthesis protocols.
MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.
LaLQR learns a latent linear-quadratic representation of robotic systems by imitating MPC to enable efficient LQR control.
PIMbot introduces an adaptive attack using reward-channel and policy manipulation to disrupt cooperation in multi-robot social dilemma RL, shown effective in Gazebo simulation and on NVIDIA Jetson hardware.
EUPHORIA is a hybrid framework using meta-learning via graph hypernetworks, physics-biased attention in graph transformers, and residual stability correction for few-shot adaptable robotic assembly planning.
citing papers explorer
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RS2AD-LiDAR: End-to-End Autonomous Driving LiDAR Data Generation from Roadside Sensor Observations
RS2AD-LiDAR reconstructs vehicle LiDAR data from roadside observations via coordinate transformation, virtual LiDAR modeling and resampling, claimed as the first such method, with experiments showing improved object detection when mixed with real data.
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Geometrically Approximated Modeling for Emitter-Centric Ray-Triangle Filtering in Arbitrarily Dynamic LiDAR Simulation
GRCA uses emitter-centric geometric culling of rays per triangle to accelerate LiDAR simulation in arbitrarily dynamic scenes, reporting up to 14.55x speedup over Embree and 7.97x over OptiX.
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SpUDD: Superpower Contouring of Unsigned Distance Data
SpUDD defines superpower contours from power diagrams of unsigned distance samples, proves convergence to the true surface, and uses them to generate approximating polygonal meshes that outperform prior strategies.
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Towards Symmetry-sensitive Pose Estimation: A Rotation Representation for Symmetric Object Classes
SARR modifies trigonometric rotation encodings with object symmetry orders to produce unique continuous poses, enabling standard CNNs to outperform existing methods on symmetry-aware 6D pose estimation without custom losses or 3D models.
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Towards Multi-Object Nonprehensile Transportation via Shared Teleoperation: A Framework Based on Virtual Object Model Predictive Control
The virtual object MPC framework enables stable shared teleoperation for transporting up to nine objects, cutting sliding distance by 72.45% and eliminating tip-overs compared to baseline.
-
Referring-Aware Visuomotor Policy Learning for Closed-Loop Manipulation
ReV is a referring-aware visuomotor policy using coupled diffusion heads for real-time trajectory replanning in robotic manipulation, trained solely via targeted perturbations to expert demonstrations and achieving higher success rates in simulated and real tasks.
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Mixed-Integer vs. Continuous Model Predictive Control for Binary Thrusters: A Comparative Study
MIMPC delivers better fuel efficiency and guaranteed stability for binary thrusters in low-thrust regimes than continuous MPC with modulation, while a modulator-informed continuous variant narrows the performance gap.
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Guided Reinforcement Learning for Omnidirectional 3D Jumping in Quadruped Robots
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
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Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
UMI enables zero-shot deployment of robot manipulation policies trained solely on portable human demonstrations captured with custom handheld grippers, supporting dynamic bimanual tasks across novel environments and objects.
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Point Cloud Sequence Encoding for Material-conditioned Graph Network Simulators
PEACH uses a novel spatio-temporal point cloud sequence encoder plus auxiliary supervision to enable zero-shot adaptation of graph network simulators to unseen physical properties, outperforming mesh-based baselines in simulation accuracy while being more deployable for real scenes.
-
Scalable Multi-robot Motion Planning via Hierarchical Subproblem Expansion and Workspace Decomposition Refinement
A hierarchical multi-robot motion planner that refines workspace decompositions to enable scalable coordination through discrete search over smaller decoupled subproblems.
-
Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
KiTE-Extend uses offline-computed translation-invariant trajectory bundles to improve action selection in kinodynamic MRMP, reducing planning time and scaling better across centralized, prioritized, and conflict-based paradigms without altering planner guarantees.
-
MAG-VLAQ: Multi-modal Aerial-Ground Query Aggregation for Cross-View Place Recognition
MAG-VLAQ fuses multi-modal ground and aerial data via ODE-conditioned vector-of-locally-aggregated-queries to nearly double recall@1 on aerial-ground place recognition benchmarks.
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PREVENT-JACK: Context Steering for Swarms of Long Heavy Articulated Vehicles
Prevent-Jack fuses six local behaviors into a context steering framework for swarms of heavy articulated vehicles, delivering collision and jackknifing avoidance at the expense of deadlocks and livelocks observed in 15,000 simulations.
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"Take Me Home, Wi-Fi Drone": A Drone-based Wireless System for Wilderness Search and Rescue
Wi2SAR is a drone-based wireless system that locates wilderness victims by exploiting automatic Wi-Fi reconnection on their mobile devices, using a 3D-printed Luneburg Lens for direction finding and adaptive navigation.
-
SutureFormer: Learning Surgical Trajectories via Goal-conditioned Offline RL in Pixel Space
SutureFormer models needle tip movement in video as sequential pixel-space actions via goal-conditioned offline RL with spline-based reward densification, cutting average displacement error by 58.6% on a new 1,158-trajectory kidney suturing dataset.
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House of Dextra: Cross-embodied Co-design for Dexterous Hands
A co-design framework learns task-specific hand shapes and complementary control policies, supporting design, training, fabrication, and deployment of new dexterous hands in under 24 hours.
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Where to Perch in a Tree: Vision-Guidance for Tree-Grasping Drones
A computer vision pipeline assesses urban tree branches for drone perching suitability on width, slope and curvature, achieving 76% success on feasible targets from over 10,000 images.
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What Do You Think I Think? Accounting for Human Beliefs Using Second-Order Theory of Mind
A second-order ToM agent using I-POMDP models human erroneous beliefs and cognitive biases to generate adaptive feedback that improves interaction informativeness.
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Robotic Nanoparticle Synthesis via Solution-based Processes
Screw-based motion planning extracted from single demonstrations enables robots to autonomously execute long-horizon nanoparticle synthesis protocols.
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MOBIUS: A Multi-Modal Bipedal Robot that can Walk, Crawl, Climb, and Roll
MOBIUS is a multi-modal bipedal robot with hybrid reinforcement learning and force control plus an MIQCP planner that enables walking, crawling, climbing, and rolling on varied terrains.
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Latent Linear Quadratic Regulator for Robotic Control Tasks
LaLQR learns a latent linear-quadratic representation of robotic systems by imitating MPC to enable efficient LQR control.
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PIMbot: A Self-Adaptive Attack Framework for Adversarial Manipulation of Multi-Robot Reinforcement Learning
PIMbot introduces an adaptive attack using reward-channel and policy manipulation to disrupt cooperation in multi-robot social dilemma RL, shown effective in Gazebo simulation and on NVIDIA Jetson hardware.
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EUPHORIA: Efficient Universal Planning via Hybrid Optimization for Robust Industrial Robotic Assembly
EUPHORIA is a hybrid framework using meta-learning via graph hypernetworks, physics-biased attention in graph transformers, and residual stability correction for few-shot adaptable robotic assembly planning.
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The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
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Smoothing Out the Edges: Continuous-Time Estimation with Gaussian Process Motion Priors on Factor Graphs
The paper recasts Gaussian-process continuous-time estimation in factor-graph language and supplies three GTSAM implementations to lower the barrier to adoption.
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What Does a Meow Mean? In Search of Intuitively Understandable Communication by a Nonverbal Companion Robot
Older adults interpreted a cat robot's intentions more accurately from combined visual icons and auditory signals than from sounds alone, except for strong sentiments.
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Real-Time Frame- and Event-based Object Detection with Spiking Neural Networks on Edge Neuromorphic Hardware: Design, Deployment and Benchmark
SNNs deployed on Loihi 2 achieve real-time object detection with the lowest dynamic energy per inference and recover 87-100% of ANN accuracy via distillation-aware training.
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Autonomous Unmanned Aircraft Systems for Enhanced Search and Rescue of Drowning Swimmers: Image-Based Localization and Mission Simulation
A UAS with YOLO-based swimmer detection and DES simulations reduces drowning rescue response time by a factor of five versus standard operations in tested lake areas.
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DigiForest: Digital Analytics and Robotics for Sustainable Forestry
DigiForest integrates heterogeneous autonomous robots for data collection, automated tree trait extraction, a decision support system for growth forecasting, and autonomous harvesters for selective logging, with real-world tests in European forests.
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Optimal Gait Control for a Tendon-driven Soft Quadruped Robot by Model-based Reinforcement Learning
Develops and tests a model-based RL controller with post-training for gait in a tendon-driven soft quadruped, reporting improved efficiency and robustness over benchmarks.
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Digital Guardians: The Past and The Future of Cyber-Physical Resilience
A survey frames CPS resilience through five themes and illustrates them in connected transportation and medical systems to provide a roadmap for real-world resilience.