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<button class="button is-small is-link">Go</button> </div> </div> </form> </div> </div> <ol class="breathe-horizontal" start="1"> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2503.14331">arXiv:2503.14331</a> <span> [<a href="https://arxiv.org/pdf/2503.14331">pdf</a>, <a href="https://arxiv.org/format/2503.14331">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Computer Vision and Pattern Recognition">cs.CV</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Systems and Control">eess.SY</span> </div> </div> <p class="title is-5 mathjax"> ADAPT: An Autonomous Forklift for Construction Site Operation </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Huemer%2C+J">Johannes Huemer</a>, <a href="/search/cs?searchtype=author&query=Murschitz%2C+M">Markus Murschitz</a>, <a href="/search/cs?searchtype=author&query=Sch%C3%B6rghuber%2C+M">Matthias Sch枚rghuber</a>, <a href="/search/cs?searchtype=author&query=Reisinger%2C+L">Lukas Reisinger</a>, <a href="/search/cs?searchtype=author&query=Kadiofsky%2C+T">Thomas Kadiofsky</a>, <a href="/search/cs?searchtype=author&query=Weidinger%2C+C">Christoph Weidinger</a>, <a href="/search/cs?searchtype=author&query=Niedermeyer%2C+M">Mario Niedermeyer</a>, <a href="/search/cs?searchtype=author&query=Widy%2C+B">Benedikt Widy</a>, <a href="/search/cs?searchtype=author&query=Zeilinger%2C+M">Marcel Zeilinger</a>, <a href="/search/cs?searchtype=author&query=Beleznai%2C+C">Csaba Beleznai</a>, <a href="/search/cs?searchtype=author&query=Gl%C3%BCck%2C+T">Tobias Gl眉ck</a>, <a href="/search/cs?searchtype=author&query=Kugi%2C+A">Andreas Kugi</a>, <a href="/search/cs?searchtype=author&query=Zips%2C+P">Patrik Zips</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2503.14331v1-abstract-short" style="display: inline;"> Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a promising solution to streamline on-site logistics, reducing reliance on human operators and mitigating labor shortages. This paper presents the development and ev… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2503.14331v1-abstract-full').style.display = 'inline'; document.getElementById('2503.14331v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2503.14331v1-abstract-full" style="display: none;"> Efficient material logistics play a critical role in controlling costs and schedules in the construction industry. However, manual material handling remains prone to inefficiencies, delays, and safety risks. Autonomous forklifts offer a promising solution to streamline on-site logistics, reducing reliance on human operators and mitigating labor shortages. This paper presents the development and evaluation of the Autonomous Dynamic All-terrain Pallet Transporter (ADAPT), a fully autonomous off-road forklift designed for construction environments. Unlike structured warehouse settings, construction sites pose significant challenges, including dynamic obstacles, unstructured terrain, and varying weather conditions. To address these challenges, our system integrates AI-driven perception techniques with traditional approaches for decision making, planning, and control, enabling reliable operation in complex environments. We validate the system through extensive real-world testing, comparing its long-term performance against an experienced human operator across various weather conditions. We also provide a comprehensive analysis of challenges and key lessons learned, contributing to the advancement of autonomous heavy machinery. Our findings demonstrate that autonomous outdoor forklifts can operate near human-level performance, offering a viable path toward safer and more efficient construction logistics. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2503.14331v1-abstract-full').style.display = 'none'; document.getElementById('2503.14331v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 18 March, 2025; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> March 2025. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2307.11423">arXiv:2307.11423</a> <span> [<a href="https://arxiv.org/pdf/2307.11423">pdf</a>, <a href="https://arxiv.org/format/2307.11423">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Information Theory">cs.IT</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Machine Learning">cs.LG</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Data Analysis, Statistics and Probability">physics.data-an</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Machine Learning">stat.ML</span> </div> </div> <p class="title is-5 mathjax"> Attention to Entropic Communication </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=En%C3%9Flin%2C+T">Torsten En脽lin</a>, <a href="/search/cs?searchtype=author&query=Weidinger%2C+C">Carolin Weidinger</a>, <a href="/search/cs?searchtype=author&query=Frank%2C+P">Philipp Frank</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2307.11423v2-abstract-short" style="display: inline;"> The concept of attention, numerical weights that emphasize the importance of particular data, has proven to be very relevant in artificial intelligence. Relative entropy (RE, aka Kullback-Leibler divergence) plays a central role in communication theory. Here we combine these concepts, attention and RE. RE guides optimal encoding of messages in bandwidth-limited communication as well as optimal mes… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2307.11423v2-abstract-full').style.display = 'inline'; document.getElementById('2307.11423v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2307.11423v2-abstract-full" style="display: none;"> The concept of attention, numerical weights that emphasize the importance of particular data, has proven to be very relevant in artificial intelligence. Relative entropy (RE, aka Kullback-Leibler divergence) plays a central role in communication theory. Here we combine these concepts, attention and RE. RE guides optimal encoding of messages in bandwidth-limited communication as well as optimal message decoding via the maximum entropy principle (MEP). In the coding scenario, RE can be derived from four requirements, namely being analytical, local, proper, and calibrated. Weighted RE, used for attention steering in communications, turns out to be improper. To see how proper attention communication can emerge, we analyze a scenario of a message sender who wants to ensure that the receiver of the message can perform well-informed actions. If the receiver decodes the message using the MEP, the sender only needs to know the receiver's utility function to inform optimally, but not the receiver's initial knowledge state. In case only the curvature of the utility function maxima are known, it becomes desirable to accurately communicate an attention function, in this case a by this curvature weighted and re-normalized probability function. Entropic attention communication is here proposed as the desired generalization of entropic communication that permits weighting while being proper, thereby aiding the design of optimal communication protocols in technical applications and helping to understand human communication. For example, our analysis shows how to derive the level of cooperation expected under misaligned interests of otherwise honest communication partners. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2307.11423v2-abstract-full').style.display = 'none'; document.getElementById('2307.11423v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 9 January, 2024; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 21 July, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> July 2023. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">25 pages, 4 figures, re-submitted</span> </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">MSC Class:</span> 94-10 (Primary) 60Axx (Secondary) <span class="has-text-black-bis has-text-weight-semibold">ACM Class:</span> I.2.0; I.2.4; I.2.6 </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2207.03785">arXiv:2207.03785</a> <span> [<a href="https://arxiv.org/pdf/2207.03785">pdf</a>, <a href="https://arxiv.org/format/2207.03785">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> <span class="tag is-small is-grey tooltip is-tooltip-top" data-tooltip="Computer Vision and Pattern Recognition">cs.CV</span> </div> </div> <p class="title is-5 mathjax"> Continuous Target-free Extrinsic Calibration of a Multi-Sensor System from a Sequence of Static Viewpoints </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Glira%2C+P">Philipp Glira</a>, <a href="/search/cs?searchtype=author&query=Weidinger%2C+C">Christoph Weidinger</a>, <a href="/search/cs?searchtype=author&query=Weichselbaum%2C+J">Johann Weichselbaum</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2207.03785v1-abstract-short" style="display: inline;"> Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and translated with respect to a fixed reference coordinate system. Erroneous calibration parameters have a negative impact on typical robotic estimation tasks, e.g. SLAM… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2207.03785v1-abstract-full').style.display = 'inline'; document.getElementById('2207.03785v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2207.03785v1-abstract-full" style="display: none;"> Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and translated with respect to a fixed reference coordinate system. Erroneous calibration parameters have a negative impact on typical robotic estimation tasks, e.g. SLAM. In this work we propose a new method for a continuous estimation of the calibration parameters during operation of the robot. The parameter estimation is based on the matching of point clouds which are acquired by the sensors from multiple static viewpoints. Consequently, our method does not need any special calibration targets and is applicable to any sensor whose measurements can be converted to point clouds. We demonstrate the suitability of our method by calibrating a multi-sensor system composed by 2 lidar sensors, 3 cameras, and an imaging radar sensor. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2207.03785v1-abstract-full').style.display = 'none'; document.getElementById('2207.03785v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 8 July, 2022; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> July 2022. </p> </li> </ol> <div class="is-hidden-tablet">  <span class="help" style="display: inline-block;"><a href="https://github.com/arXiv/arxiv-search/releases">Search v0.5.6 released 2020-02-24</a>  </span> </div> </div> </main> <footer> <div class="columns is-desktop" role="navigation" aria-label="Secondary">  <div class="column"> <div class="columns"> <div class="column"> <ul class="nav-spaced"> 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