80 citations · 104 across the 24 of their papers we have counts for
10 papers · 1 filter
ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectors
Liming Kuang, Yordanka Velikova, Mahdi Saleh +3
Object pose estimation is a fundamental task in computer vision and robotics, yet most methods require extensive, dataset-specific training. Concurrently, large-scale vision langua…
Autonomous Vehicle Path Planning by Searching With Differentiable Simulation
Asen Nachkov, Jan-Nico Zaech, Danda Pani Paudel +2
Planning allows an agent to safely refine its actions before executing them in the real world. In autonomous driving, this is crucial to avoid collisions and navigate in complex, d…
SPEAR-1: Scaling Beyond Robot Demonstrations via 3D Understanding
Nikolay Nikolov, Giuliano Albanese, Sombit Dey +4
Robotic Foundation Models (RFMs) hold great promise as generalist, end-to-end systems for robot control. Yet their ability to generalize across new environments, tasks, and embodim…
LangHOPS: Language Grounded Hierarchical Open-Vocabulary Part Segmentation
Yang Miao, Jan-Nico Zaech, Xi Wang +3
We propose LangHOPS, the first Multimodal Large Language Model (MLLM) based framework for open-vocabulary object-part instance segmentation. Given an image, LangHOPS can jointly de…
Generalist Robot Manipulation beyond Action Labeled Data
Alexander Spiridonov, Jan-Nico Zaech, Nikolay Nikolov +2
Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot mann…
From Scan to Action: Leveraging Realistic Scans for Embodied Scene Understanding
Anna-Maria Halacheva, Jan-Nico Zaech, Sombit Dey +2
Real-world 3D scene-level scans offer realism and can enable better real-world generalizability for downstream applications. However, challenges such as data volume, diverse annota…
GaussianVLM: Scene-centric 3D Vision-Language Models using Language-aligned Gaussian Splats for Embodied Reasoning and Beyond
Anna-Maria Halacheva, Jan-Nico Zaech, Xi Wang +2
As multimodal language models advance, their application to 3D scene understanding is a fast-growing frontier, driving the development of 3D Vision-Language Models (VLMs). Current…
RhoDARTS: Differentiable Quantum Architecture Search with Density Matrix Simulations
Swagat Kumar, Jan-Nico Zaech, Colin Michael Wilmott +1
Variational Quantum Algorithms (VQAs) are a promising approach to leverage Noisy Intermediate-Scale Quantum (NISQ) computers. However, choosing optimal quantum circuits that effici…
Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap
Jianye Xu, Johannes Betz, Armin Mokhtarian +11
This article proposes a roadmap to address the current challenges in small-scale testbeds for Connected and Automated Vehicles (CAVs) and robot swarms. The roadmap is a joint effor…
Unlocking Efficient Vehicle Dynamics Modeling via Analytic World Models
Asen Nachkov, Danda Pani Paudel, Jan-Nico Zaech +2
Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradien…