no code implementations • 21 Mar 2024 • Francesco Di Felice, Alberto Remus, Stefano Gasperini, Benjamin Busam, Lionel Ott, Federico Tombari, Roland Siegwart, Carlo Alberto Avizzano
Estimating the pose of objects through vision is essential to make robotic platforms interact with the environment.
no code implementations • 13 Jul 2023 • Vincent Schorp, Will Panitch, Kaushik Shivakumar, Vainavi Viswanath, Justin Kerr, Yahav Avigal, Danyal M Fer, Lionel Ott, Ken Goldberg
Accurate 3D sensing of suturing thread is a challenging problem in automated surgical suturing because of the high state-space complexity, thinness and deformability of the thread, and possibility of occlusion by the grippers and tissue.
2 code implementations • 20 Mar 2023 • Kenneth Blomqvist, Francesco Milano, Jen Jen Chung, Lionel Ott, Roland Siegwart
In this work, we present a zero-shot volumetric open-vocabulary semantic scene segmentation method.
no code implementations • 26 Sep 2022 • Kenneth Blomqvist, Lionel Ott, Jen Jen Chung, Roland Siegwart
Methods have recently been proposed that densely segment 3D volumes into classes using only color images and expert supervision in the form of sparse semantically annotated pixels.
no code implementations • 28 Jun 2022 • Weixuan Zhang, Lionel Ott, Marco Tognon, Roland Siegwart
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection.
no code implementations • 3 May 2022 • Michael Pantic, Cesar Cadena, Roland Siegwart, Lionel Ott
This work investigates the use of Neural implicit representations, specifically Neural Radiance Fields (NeRF), for geometrical queries and motion planning.
1 code implementation • 19 Jan 2022 • Kenneth Blomqvist, Jen Jen Chung, Lionel Ott, Roland Siegwart
In this work, we present a full object keypoint tracking toolkit, encompassing the entire process from data collection, labeling, model learning and evaluation.
no code implementations • 29 Sep 2021 • Weiming Zhi, Tin Lai, Lionel Ott, Edwin V Bonilla, Fabio Ramos
Consequently, by restricting the base ODE to be amenable to integration, we can speed up and improve the robustness of integrating trajectories from the learned system.
no code implementations • 9 Jul 2021 • Weiming Zhi, Lionel Ott, Fabio Ramos
This distribution is then used as a prior to a constrained optimisation problem which enforces chance constraints on the trajectory distribution.
no code implementations • 4 Jul 2021 • Weiming Zhi, Tin Lai, Lionel Ott, Edwin V. Bonilla, Fabio Ramos
Advances in differentiable numerical integrators have enabled the use of gradient descent techniques to learn ordinary differential equations (ODEs).
2 code implementations • 7 Jun 2021 • Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Quantification of uncertainty in point cloud matching is critical in many tasks such as pose estimation, sensor fusion, and grasping.
no code implementations • 20 Jan 2021 • Weixuan Zhang, Lionel Ott, Marco Tognon, Roland Siegwart, Juan Nieto
However, the efficient and effective data collection for such a data-driven system on real robots is still an open challenge.
Robotics Systems and Control Systems and Control
1 code implementation • 4 Jan 2021 • Michel Breyer, Jen Jen Chung, Lionel Ott, Roland Siegwart, Juan Nieto
General robot grasping in clutter requires the ability to synthesize grasps that work for previously unseen objects and that are also robust to physical interactions, such as collisions with other objects in the scene.
Robotics
no code implementations • 12 Nov 2020 • Weiming Zhi, Tin Lai, Lionel Ott, Fabio Ramos
Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements.
no code implementations • 2 Apr 2020 • Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations.
1 code implementation • 18 Feb 2020 • Lucas Barcelos, Rafael Oliveira, Rafael Possas, Lionel Ott, Fabio Ramos
Accurate simulation of complex physical systems enables the development, testing, and certification of control strategies before they are deployed into the real systems.
1 code implementation • 20 Nov 2019 • Tom Blau, Lionel Ott, Fabio Ramos
Balancing exploration and exploitation is a fundamental part of reinforcement learning, yet most state-of-the-art algorithms use a naive exploration protocol like $\epsilon$-greedy.
1 code implementation • pproximateinference AABI Symposium 2019 • Rafael Oliveira, Lionel Ott, Fabio Ramos
Inverse problems are ubiquitous in natural sciences and refer to the challenging task of inferring complex and potentially multi-modal posterior distributions over hidden parameters given a set of observations.
no code implementations • 25 Sep 2019 • Weiming Zhi, Tin Lai, Lionel Ott, Gilad Francis, Fabio Ramos
This generally involves the prediction and understanding of motion patterns of dynamic entities, such as vehicles and people, in the surroundings.
2 code implementations • 20 Sep 2019 • Lukas Schmid, Michael Pantic, Raghav Khanna, Lionel Ott, Roland Siegwart, Juan Nieto
However, they are prone to local minima, resulting in sub-optimal trajectories, and sometimes do not reach global coverage.
1 code implementation • 22 Jul 2019 • Fahira Afzal Maken, Fabio Ramos, Lionel Ott
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation.
no code implementations • 11 Jul 2019 • Weiming Zhi, Lionel Ott, Fabio Ramos
Understanding the dynamics of an environment, such as the movement of humans and vehicles, is crucial for agents to achieve long-term autonomy in urban environments.
1 code implementation • 18 Jun 2019 • Philippe Morere, Lionel Ott, Fabio Ramos
Our framework decomposes transition dynamics into skill effects and success conditions, which allows fast planning by reasoning on effects, while learning conditions from interactions with the world.
no code implementations • 21 Feb 2019 • Rafael Oliveira, Lionel Ott, Fabio Ramos
In this context, we propose an upper confidence bound (UCB) algorithm for BO problems where both the outcome of a query and the true query location are uncertain.
no code implementations • 17 Feb 2018 • Rafael Oliveira, Fernando H. M. Rocha, Lionel Ott, Vitor Guizilini, Fabio Ramos, Valdir Grassi Jr
On the other hand, the cost to evaluate the policy's performance might also be high, being desirable that a solution can be found with as few interactions as possible with the real system.
no code implementations • 14 Dec 2017 • Thushan Ganegedara, Lionel Ott, Fabio Ramos
Adaptability is central to autonomy.
no code implementations • 7 Sep 2017 • Rafael Oliveira, Lionel Ott, Vitor Guizilini, Fabio Ramos
In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform.
no code implementations • 7 Jan 2017 • Charika De Alvis, Lionel Ott, Fabio Ramos
The proposed method is evaluated on images and 3D point cloud data gathered in urban environments where image data provides the appearance features needed by the CRF, while the 3D point cloud data provides global spatial constraints over sets of nodes.
no code implementations • NeurIPS 2016 • Ransalu Senanayake, Lionel Ott, Simon O'Callaghan, Fabio T. Ramos
We consider the problem of building continuous occupancy representations in dynamic environments for robotics applications.
no code implementations • 8 Aug 2016 • Thushan Ganegedara, Lionel Ott, Fabio Ramos
As more data is collected sequentially, quickly adapting to changes in the data distribution can offer several competitive advantages such as avoiding loss of prior knowledge and more efficient learning.
55 code implementations • 2 Feb 2016 • Alex Bewley, ZongYuan Ge, Lionel Ott, Fabio Ramos, Ben Upcroft
This paper explores a pragmatic approach to multiple object tracking where the main focus is to associate objects efficiently for online and realtime applications.
Ranked #2 on Multi-Object Tracking on MOT15
no code implementations • NeurIPS 2014 • Lionel Ott, Linsey Pang, Fabio T. Ramos, Sanjay Chawla
We model the joint clustering and outlier detection problem using an extension of the facility location formulation.
no code implementations • 6 Mar 2014 • Lionel Ott, Linsey Pang, Fabio Ramos, David Howe, Sanjay Chawla
We present and contrast three relaxations to the integer program formulation: (i) a linear programming formulation (LP) (ii) an extension of affinity propagation to outlier detection (APOC) and (iii) a Lagrangian duality based formulation (LD).