4 papers
E2Map: Experience-and-Emotion Map for Self-Reflective Robot Navigation with Language Models
Chan Kim, Keonwoo Kim, Mintaek Oh +10
Large language models (LLMs) have shown significant potential in guiding embodied agents to execute language instructions across a range of tasks, including robotic manipulation an…
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadi Sznaier Camps +1
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDA…
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith +5
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to e…
A Distributed Multi-Vehicle Coordination Algorithm for Navigation in Tight Environments
Roya Firoozi, Laura Ferranti, Xiaojing Zhang +2
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles t…