Publications associées à GRADE: Generating Realistic and Dynamic Environments for robotics research with Isaac Sim

Publications associées (21)

Principles and Guidelines for Evaluating Social RobotNavigation Algorithms

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation of algorithms t ...

ASSOC COMPUTING MACHINERY2025

GLoFool: Global Enhancements and Local Perturbations to Craft Adversarial Images

Andrea Cavallaro

Adversarial examples crafted in black-box scenarios are affected by unrealistic colors or spatial artifacts. To prevent these shortcomings, we propose a novel strategy that generates adversarial images with low detectability and high transferability. The p ...

Springer Science and Business Media Deutschland GmbH2025

Edge-Cloud Collaborated Object Detection via Bandwidth Adaptive Difficult-Case Discriminator

Yung-Cheng Chiang

Object detection, a fundamental task in computer vision, is crucial for various intelligent edge computing applications. However, object detection algorithms are usually heavy in computation, hindering their deployments on resource-constrained edge devices ...

2025

MetaCap: Meta-learning Priors from Multi-view Imagery for Sparse-View Human Performance Capture and Rendering

Pascal Fua

Faithful human performance capture and free-view rendering from sparse RGB observations is a long-standing problem in Vision and Graphics. The main challenges are the lack of observations and the inherent ambiguities of the setting, e.g. occlusions and dep ...

Springer Science and Business Media Deutschland GmbH2025

Collaborative AI Agents in the Era of Large Language Models

Martin Josifoski

Developing agents that can reliably act on our behalf is central to artificial intelligence (AI). These agents must seamlessly interact with tools, like search engines and databases, and collaborate. In this thesis, we study the abstractions, methods, and ...

EPFL2025

Neural Garment Modeling

Ren Li

The digitization of 3D deformable objects remains a significant challenge in computer graphics and vision, particularly in the accurate modeling of garments. Garments exhibit complex shape variability, non-rigid deformations, and frequent self-occlusion, m ...

EPFL2025

A Stochastic Approach to Contact-rich Manipulation

Julius Maximilian Jankowski

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

EPFL2025

Design of robotic physical intelligence

Francesco Stella

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

Stereo Hand-Object Reconstruction for Human-to-Robot Handover

Andrea Cavallaro

Jointly estimating hand and object shape facilitates the grasping task in human-to-robot handovers. Relying on handcrafted prior knowledge about the geometric structure of the object fails when generalising to unseen objects, and depth sensors fail to dete ...

2025

SUTBot: A Soft Umbrella-like Tensegrity Robot with Elastic Struts for In-pipe Locomotion

Rui Wu

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

2025

Adapting Fine-Grained Cross-View Localization to Areas Without Fine Ground Truth

Zimin Xia

Given a ground-level query image and a geo-referenced aerial image that covers the query’s local surroundings, fine-grained cross-view localization aims to estimate the location of the ground camera inside the aerial image. Recent works have focused on dev ...

Springer Science and Business Media Deutschland GmbH2025

Automated Generation of Emotion-Conveying Sounds for Robots

Alaa Abboud

Sonic Human-Robot Interaction aims at equipping robots with the ability to convey emotions and intentions via sounds. Such sounds are typically handcrafted by human experts, which results in expensive, small sound sets with limited expressivity. To overcom ...

IEEE2025

Continuously indexed graphical models

Victor Panaretos, Kartik Waghmare

Let X={Xu}u is an element of U be a real-valued Gaussian process indexed by a set U. We show that X can be viewed as a graphical model with an uncountably infinite graph, where each Xu is a vertex. This graph is characterized by the reproducing property of ...

OXFORD UNIV PRESS2025

One Code to Predict Them All: Universal Encoding for Inquiry Modeling

Valentine Marie Delevaux, Tanja Christina Käser Jacober, Jade Maï L Cock

Interactive simulations enhance science education and foster inquiry skills, but their open-ended nature can be cognitively overloading. While adaptive systems offer timely support, research on predicting conceptual understanding in these environments is l ...

Springer Science and Business Media Deutschland GmbH2025

On the added value of sequential deep learning for the upscaling of evapotranspiration

Devis Tuia

Estimating ecosystem-atmosphere fluxes such as evapotranspiration (ET) in a robust manner and at a global scale remains a challenge. Methods based on machine learning (ML) have shown promising results in achieving such upscaling, providing a complementary ...

2025

An augmented reality-based wearable system for handheld-free and intuitive robot programming

Junsoo Kim

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

2025

Enhancing skin lesion classification: a CNN approach with human baseline comparison

Zaffar Ahmed Shaikh

This study presents an augmented hybrid approach for improving the diagnosis of malignant skin lesions by combining convolutional neural network (CNN) predictions with selective human interventions based on prediction confidence. The algorithm retains high ...

PeerJ2025

Granular Avalanche Impact on a Structure using DEM and FEM

Malika Romane Jenni

Mountain regions face a variety of natural hazards that menace infrastructure and the people living in these areas. Human activity in these areas is intensifying, making hazard analysis and risk mitigation critical. Switzerland, with its densely populated ...

2025

Machine Learning in Decision-Making Systems: Fairness, Robustness, and Data Bias

Yves Rychener

Machine learning is increasingly integrated with decision making by powering automated systems and informing human decision makers in applications such as CV screening, portfolio allocation, loan risk assessment, and insurance approval. In this thesis, I e ...

EPFL2025

TimEHR: Image-based Time Series Generation for Electronic Health Records

David Atienza Alonso, Anisoara Ionescu, Hojjat Karami

Time series in Electronic Health Records (EHRs) present unique challenges for generative models, such as irregular sampling, missing values, and high dimensionality. In this paper, we propose a novel generative adversarial network (GAN) model, TimEHR, to g ...

Institute of Electrical and Electronics Engineers (IEEE)2025