7 citations · 15 across the 10 of their papers we have counts for
11 papers
Mind and Motion Aligned: A Joint Evaluation IsaacSim Benchmark for Task Planning and Low-Level Policies in Mobile Manipulation
Nikita Kachaev, Andrei Spiridonov, Andrey Gorodetsky +8
Benchmarks are crucial for evaluating progress in robotics and embodied AI. However, a significant gap exists between benchmarks designed for high-level language instruction follow…
PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps
Kirill Muravyev, Artem Kobozev, Vasily Yuryev +4
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matchin…
NavTopo: Leveraging Topological Maps For Autonomous Navigation Of a Mobile Robot
Kirill Muravyev, Konstantin Yakovlev
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build…
PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matching
Kirill Muravyev, Alexander Melekhin, Dmitry Yudin +1
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy gr…
Interactive Semantic Map Representation for Skill-based Visual Object Navigation
Tatiana Zemskova, Aleksei Staroverov, Kirill Muravyev +2
Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the emb…
Evaluation of RGB-D SLAM in Large Indoor Environments
Kirill Muravyev, Konstantin Yakovlev
Simultaneous localization and mapping (SLAM) is one of the key components of a control system that aims to ensure autonomous navigation of a mobile robot in unknown environments. I…