90 citations · 261 across the 18 of their papers we have counts for
7 papers · 1 filter
Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments
Nitish Dashora, Daniel Shin, Dhruv Shah +5
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments th…
Learning Risk-aware Costmaps for Traversability in Challenging Environments
David D. Fan, Sharmita Dey, Ali-akbar Agha-mohammadi +1
One of the main challenges in autonomous robotic exploration and navigation in unknown and unstructured environments is determining where the robot can or cannot safely move. A sig…
Shot Contrastive Self-Supervised Learning for Scene Boundary Detection
Shixing Chen, Xiaohan Nie, David Fan +3
Scenes play a crucial role in breaking the storyline of movies and TV episodes into semantically cohesive parts. However, given their complex temporal structure, finding scene boun…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
David D. Fan, Kyohei Otsu, Yuki Kubo +3
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extrem…
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra +4
In order for an autonomous robot to efficiently explore an unknown environment, it must account for uncertainty in sensor measurements, hazard assessment, localization, and motion…
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
Rohan Thakker, Nikhilesh Alatur, David D. Fan +5
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and…