6 papers · 1 filter
Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments
Matthew Sivaprakasam, Samuel Triest, Micah Nye +5
Standard methods for autonomous navigation in unstructured terrain are prone to myopic behaviors in long-horizon scenarios. The use of metric maps built from LiDAR or cameras provi…
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng +10
As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan +3
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections i…
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments
Samuel Triest, David D. Fan, Sebastian Scherer +1
Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is i…
Low Frequency Sampling in Model Predictive Path Integral Control
Bogdan Vlahov, Jason Gibson, David D. Fan +3
Sampling-based model-predictive controllers have become a powerful optimization tool for planning and control problems in various challenging environments. In this paper, we show h…