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Automatic Construction of Lane-level HD Maps for Urban Scenes


Jul 23, 2021
Yiyang Zhou, Yuichi Takeda, Masayoshi Tomizuka, Wei Zhan

* 9 pages, 7 figures, 2 tables, accepted by IROS2021 

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Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units


Jun 21, 2021
Shiyu Jin, Diego Romeres, Arvind Ragunathan, Devesh K. Jha, Masayoshi Tomizuka


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Image2Point: 3D Point-Cloud Understanding with Pretrained 2D ConvNets


Jun 08, 2021
Chenfeng Xu, Shijia Yang, Bohan Zhai, Bichen Wu, Xiangyu Yue, Wei Zhan, Peter Vajda, Kurt Keutzer, Masayoshi Tomizuka

* The code is avaliable at: \url{https://github.com/chenfengxu714/image2point

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Spectral Temporal Graph Neural Network for Trajectory Prediction


Jun 05, 2021
Defu Cao, Jiachen Li, Hengbo Ma, Masayoshi Tomizuka

* ICRA 2021 

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Negotiation-Aware Reachability-Based Safety Verification for AutonomousDriving in Interactive Scenarios


Jun 04, 2021
Ran Tian, Anjian Li, Masayoshi Tomizuka, Liting Sun

* This work is presented at the ICRA 2021 Workshop on Safe Robot Control with Learned Motion and Environment Models 

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History Encoding Representation Design for Human Intention Inference


Jun 04, 2021
Zhuo Xu, Masayoshi Tomizuka


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Development of Soft Tactile Sensor for Force Measurement and Position Detection


May 15, 2021
Wu-Te Yang, Zhian Kuang, Changhao Wang, Masayoshi Tomizuka

* 8 pages, 8 figures 

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6-DoF Contrastive Grasp Proposal Network


Mar 29, 2021
Xinghao Zhu, Lingfeng Sun, Yongxiang Fan, Masayoshi Tomizuka

* To appear on 2021 International Conference on Robotics and Automation (ICRA 2021) 

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You Only Group Once: Efficient Point-Cloud Processing with Token Representation and Relation Inference Module


Mar 24, 2021
Chenfeng Xu, Bohan Zhai, Bichen Wu, Tian Li, Wei Zhan, Peter Vajda, Kurt Keutzer, Masayoshi Tomizuka

* The code is available at https://github.com/chenfengxu714/YOGO.git 

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Learning Human Rewards by Inferring Their Latent Intelligence Levels in Multi-Agent Games: A Theory-of-Mind Approach with Application to Driving Data


Mar 07, 2021
Ran Tian, Masayoshi Tomizuka, Liting Sun


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A Simple and Efficient Multi-task Network for 3D Object Detection and Road Understanding


Mar 06, 2021
Di Feng, Yiyang Zhou, Chenfeng Xu, Masayoshi Tomizuka, Wei Zhan


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Diverse Critical Interaction Generation for Planning and Planner Evaluation


Mar 05, 2021
Zhao-Heng Yin, Lingfeng Sun, Liting Sun, Masayoshi Tomizuka, Wei Zhan


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Grounded Relational Inference: Domain Knowledge Driven Explainable Autonomous Driving


Feb 23, 2021
Chen Tang, Nishan Srishankar, Sujitha Martin, Masayoshi Tomizuka

* 15 pages, 12 figures 

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Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Tracking


Feb 18, 2021
Jiachen Li, Hengbo Ma, Zhihao Zhang, Jinning Li, Masayoshi Tomizuka

* This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible 

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Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks


Feb 13, 2021
Xiang Zhang, Liting Sun, Zhian Kuang, Masayoshi Tomizuka

* Accepted by IEEE Robotics and Automation Letters. Feb 2020 

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Practical Fractional-Order Variable-Gain Super-Twisting Control with Application to Wafer Stages of Photolithography Systems


Feb 06, 2021
Zhian Kuang, Liting Sun, Huijun Gao, Masayoshi Tomizuka

* This paper has been accepted by IEEE Trans. Mechatronics 

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Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators


Feb 06, 2021
Zhian Kuang, Xiang Zhang, Liting Sun, Huijun Gao, Masayoshi Tomizuka

* This paper has been accepted by American Control Conference 2021 

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Precise Motion Control of Wafer Stages via Adaptive Neural Network and Fractional-Order Super-Twisting Algorithm


Jan 31, 2021
Zhian Kuang, Liting Sun, Huijun Gao, Masayoshi Tomizuka

* Published in IFAC World Congress 2020 

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Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties


Jan 29, 2021
Shiyu Jin, Xinghao Zhu, Changhao Wang, Masayoshi Tomizuka


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A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning


Jan 17, 2021
Jinning Li, Liting Sun, Masayoshi Tomizuka, Wei Zhan


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Interaction-Aware Behavior Planning for Autonomous Vehicles Validated with Real Traffic Data


Jan 15, 2021
Jinning Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka


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Labels Are Not Perfect: Inferring Spatial Uncertainty in Object Detection


Dec 18, 2020
Di Feng, Zining Wang, Yiyang Zhou, Lars Rosenbaum, Fabian Timm, Klaus Dietmayer, Masayoshi Tomizuka, Wei Zhan


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Sparse R-CNN: End-to-End Object Detection with Learnable Proposals


Nov 25, 2020
Peize Sun, Rufeng Zhang, Yi Jiang, Tao Kong, Chenfeng Xu, Wei Zhan, Masayoshi Tomizuka, Lei Li, Zehuan Yuan, Changhu Wang, Ping Luo


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Prediction-Based Reachability for Collision Avoidance in Autonomous Driving


Nov 24, 2020
Anjian Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka, Mo Chen


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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing


Nov 23, 2020
Zhuo Xu, Wenhao Yu, Alexander Herzog, Wenlong Lu, Chuyuan Fu, Masayoshi Tomizuka, Yunfei Bai, C. Karen Liu, Daniel Ho


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Learning Dense Rewards for Contact-Rich Manipulation Tasks


Nov 17, 2020
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar, Masayoshi Tomizuka, Stefan Schaal

* 8 pages, 5 figures 

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Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data


Nov 10, 2020
Letian Wang, Liting Sun, Masayoshi Tomizuka, Wei Zhan

* Fix a bug in Figure 7 and remove some typos; 9 pages, 10 figures 

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