Research | Machine Learning

MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving

• Jianhao JIAO*, Peng Yun*, Lei Tai, Ming Liu, MLOD: Awareness of Extrinsic Perturbation in Multi-LiDAR 3D Object Detection for Autonomous Driving, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Las Vegas, USA. (* indicates equal contribution) pdf page

FuseSeg: Semantic Segmentation of Urban Scenes based on RGB and Thermal Data Fusion

• Yuxiang Sun, Weixun Zuo, Peng Yun, Hengli Wang, and Ming Liu, “FuseSeg: Semantic Segmentation of Urban Scenes based on RGB and Thermal Data Fusion,” IEEE Transactions on Automation Science and Engineering, 2020 (Early Access). bibtex pdf

PointTrackNet: An End-to-End Network for 3D Object Detection and Tracking from Point Cloud

• Sukai Wang, Yuxiang Sun, Chengju Liu, Ming Liu, PointTrackNet: An End-to-End Network for 3D Object Detection and Tracking from Point Cloud, IEEE Robotics and Automation Letters, 2020 (Early Access). pdf

Robot Navigation in Crowds by Graph Convolutional Networks with Attention Learned from Human Gaze

• Yuying Chen*, Congcong Liu*, Ming Liu, Bertram Shi, Robot Navigation in Crowds by Graph Convolutional Networks with Attention Learned from Human Gaze, International Conference on Robotics and Automation (ICRA RA-L submission), 2020 , Paris, France. pdf page

VR-Goggles for Robots: Real-to-sim Domain Adaptation for Visual Control

• Jingwei Zhang*, Lei Tai*, Peng Yun, Yufeng Xiong, Ming Liu, Joschka Boedecker, Wolfram Burgard, VR-Goggles for Robots: Real-to-sim Domain Adaptation for Visual Control, IEEE Robotics and Automation Letters. (* indicates equal contribution).   link page pdf bibtex supplement video

Socially-compliant Navigation through Generative Adversarial Imitation Learning

• Lei Tai, Jingwei Zhang, Ming Liu, Wolfram Burgard, Socially Compliant Navigation through Raw Depth Inputs with Generative Adversarial Imitation Learning, International Conference on Robotics and Automation (ICRA), May 21-25, 2018, Brisbane, Australia,   link pdf bibtex video

Real-time Nonholonomic Robot Navigation in Dynamic Environment

• Yuying Chen, Ming Liu, RRT* Combined with GVO for Real-time Nonholonomic Robot Navigation in Dynamic Environment (for the review of)

Neural SLAM

• Jingwei Zhang, Lei Tai, Joschka Boedecker, Wolfram Burgard, Ming Liu, Neural SLAM: Learning to Explore with External Memory, arXiv 1706.09520. arXiv

Deep Reinforcement Learning in Robotics Navigation

• Lei Tai, Giuseppe Paolo, Ming Liu, Virtual-to-real Deep Reinforcement Learning: Continuous Control of Mobile Robots for Mapless Navigation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 24-28, 2017, Vancouver, Canada.   link pdf bibtex

Deep-learning-based human-like decision-making and exploration

• Lei Tai, Shaohua Li, and Ming Liu, A Deep-network Solution Towards Model-less Obstacle Avoidence, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016 pdf ,

Deep Visual Homing throug Omnidirectional Camera

• Lei Tai and Ming Liu, A Technical Report on Deep Visual Homing through Omnidirectional Camera, 2016 pdf ,

Asynchronous Deep Reinforcement Learning

• A PyTorch Implementation of A3C GitHub

One of the first real Cloud Robotic Systems

A remote controlled mobile robot based on IntoRobot Cloud (www.intorobot.com) and IntoRobot Atom board. The control of the robot is through Internet. The robot can be shared to other via WeChat and WhatsApp easily.

Visual Homing-based topological Navigation

The mobile robot navigates in an indoor environment with illuminant changes by using an Omnidirectional Camera. Please refer to:

Ming Liu, Cedric Pradalier, Roland Siegwart, Visual Homing from Scale with an Uncalibrated Omnidirectional Camera, IEEE Transactions on Robotics (TRO), Vol. 29, Issue 6, pp.1353 - 1365, Dec. 2013.

3D modeling and mapping in real-time

This a demo of 3D registration by ICP, based on the library proposed in:

Francois Pomerleau, Stephane Magnenat, Francis Colas, Ming Liu, Roland Siegwart, Tracking a Depth Camera: Parameter Exploration for Fast ICP, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011

Localization by 1-bit sensor for educational Robots

This is a joint work with EPFL, U Leuven, INRIA and CityU. We localize an educational robots using a inferred sensor on gray-scale images.

Shiling Wang, Francis Colas, Ming Liu, Francesco Mondada, Stéphane Magnenat, Localization of inexpensive robots with low-bandwidth sensors, DARS 2016, pdf