TinySDP is the first semidefinite programming solver designed for embedded systems, enabling real-time certifiable model predictive control with nonconvex geometric constraints on microcontrollers.
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In: 2022 International Conference on Robotics and Automation (ICRA), pp
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Optimal configurations for regular-chassis fully-actuated multirotors reduce to N-5 disconnected 1D topological branches corresponding to star polygons {N/q}.
Promptbreeder evolves both task prompts and the mutation prompts that improve them using LLMs, outperforming Chain-of-Thought and Plan-and-Solve on arithmetic and commonsense reasoning benchmarks.
SA-LIVO uses eigendecomposition of the joint information matrix with linear-clamp soft gates per eigendirection for efficient degeneracy-aware LiDAR-inertial-visual odometry.
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A Galilean-equivariant filter jointly estimates INS navigation states and unknown GNSS time delays, preserving accuracy and consistency better than EKF in UAV flights and simulations with delays up to 500 ms.
LLM-Foraging uses off-the-shelf LLMs for decentralized tactical decisions in CPFA-based swarm foraging, collecting more resources than GA-tuned baselines across 36 varied configurations while showing greater consistency.
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.
A conditional diffusion model using proprioception and multi-contact touch produces metric-scale, physically consistent 3D object reconstructions under hand occlusion.
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.
Free-Range Gaussians uses flow matching over Gaussian parameters to predict non-grid-aligned 3D Gaussians from multi-view images, enabling synthesis of plausible content in unobserved regions with fewer primitives than grid-aligned methods.
Task-level ILC learns flying knot rope manipulation from one demo, achieving 100% success within 10 trials on 7 rope types with 2-5 trial transfers.
AID trains diffusion policies via behavior cloning on existing MAIPP planners followed by RL fine-tuning to achieve faster execution and higher information gain in multi-agent coordination.
Guided RL using Bezier curves and UARM model enables efficient, explainable omnidirectional jumping in quadruped robots.
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MiTaS fuses multi-resolution tactile data from GelSight and Evetac sensors with vision using modality-specific stems and transformer fusion to condition flow-matching policies, reporting 80% average success on five contact-rich tasks versus 31-54% baselines.
KITScenes Multimodal presents a new multimodal autonomous driving dataset with complete HD maps and four benchmarks for spatial learning tasks including online map construction and end-to-end driving.
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UniTrans pretrains a bank of translator experts and learns combination coefficients from modality mappings in a scene-invariant latent space to enable zero-shot any-to-any feature translation for heterogeneous collaborative perception.
Recasts sampling-based nonconvex optimization as smoothed gradient descent to obtain non-asymptotic convergence guarantees and introduces the DIDA annealed algorithm that converges to the global optimum.
T3S is a new semantic similarity score for processed images that decomposes semantics into foreground entities, background entities, and relations, outperforming fidelity metrics on COCO and SPA-Data.
frax is a new open-source JAX library delivering low-microsecond CPU dynamics and over 100 million GPU evaluations per second for robot kinematics and dynamics with autodiff support.
A 2084-parameter recurrent policy trained by distilling 1000 RL teacher policies enables zero-shot control across 10 real quadrotors differing in mass, motors, frames, propellers, and flight controllers.
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