25 citations · 37 across the 25 of their papers we have counts for
26 papers
VISA: VLM-Guided Instance Semantic Auditing for 3D Occupancy World Models
Ruiqi Xian, Yuehan Xian, Jing Liang +2
Semantic 3D occupancy provides a voxelized world state for autonomous driving and robot decision making, but object and rare-class errors can affect free-space interpretation, coll…
Paired-CSLiDAR: Height-Stratified Registration for Cross-Source Aerial-Ground LiDAR Pose Refinement
Montana Hoover, Jing Liang, Tianrui Guan +1
We introduce Paired-CSLiDAR (CSLiDAR), a cross-source aerial-ground LiDAR benchmark for single-scan pose refinement: refining a ground-scan pose within a 50 m-radius aerial crop. T…
MOSU: Autonomous Long-range Robot Navigation with Multi-modal Scene Understanding
Jing Liang, Kasun Weerakoon, Daeun Song +3
We present MOSU, a novel autonomous long-range navigation system that enhances global navigation for mobile robots through multimodal perception and on-road scene understanding. MO…
ViLAM: Distilling Vision-Language Reasoning into Attention Maps for Social Robot Navigation
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +3
We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot naviga…
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne +5
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interpret…
ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera
Jing Liang, He Yin, Xuewei Qi +4
We introduce ET-Former, a novel end-to-end algorithm for semantic scene completion using a single monocular camera. Our approach generates a semantic occupancy map from single RGB…
VL-TGS: Trajectory Generation and Selection using Vision Language Models in Mapless Outdoor Environments
Daeun Song, Jing Liang, Xuesu Xiao +1
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich feat…
CSCPR: Cross-Source-Context Indoor RGB-D Place Recognition
Jing Liang, Zhuo Deng, Zheming Zhou +5
We extend our previous work, PoCo, and present a new algorithm, Cross-Source-Context Place Recognition (CSCPR), for RGB-D indoor place recognition that integrates global retrieval…
PoCo: Point Context Cluster for RGBD Indoor Place Recognition
Jing Liang, Zhuo Deng, Zheming Zhou +5
We present a novel end-to-end algorithm (PoCo) for the indoor RGB-D place recognition task, aimed at identifying the most likely match for a given query frame within a reference da…
VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models
Daeun Song, Jing Liang, Amirreza Payandeh +3
We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time d…
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation
Jing Liang, Amirreza Payandeh, Daeun Song +2
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off…
On the Vulnerability of LLM/VLM-Controlled Robotics
Xiyang Wu, Souradip Chakraborty, Ruiqi Xian +6
In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While…
MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
Jing Liang, Peng Gao, Xuesu Xiao +4
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specif…
CrossLoc3D: Aerial-Ground Cross-Source 3D Place Recognition
Tianrui Guan, Aswath Muthuselvam, Montana Hoover +5
We present CrossLoc3D, a novel 3D place recognition method that solves a large-scale point matching problem in a cross-source setting. Cross-source point cloud data corresponds to…
GeoLCR: Attention-based Geometric Loop Closure and Registration
Jing Liang, Sanghyun Son, Ming Lin +1
We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point c…
WGICP: Differentiable Weighted GICP-Based Lidar Odometry
Sanghyun Son, Jing Liang, Ming Lin +1
We present a novel differentiable weighted generalized iterative closest point (WGICP) method applicable to general 3D point cloud data, including that from Lidar. Our method build…
MSVIPER: Improved Policy Distillation for Reinforcement-Learning-Based Robot Navigation
Aaron M. Roth, Jing Liang, Ram Sriram +2
We present Multiple Scenario Verifiable Reinforcement Learning via Policy Extraction (MSVIPER), a new method for policy distillation to decision trees for improved robot navigation…
GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang +3
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from a…
AdaptiveON: Adaptive Outdoor Local Navigation Method For Stable and Reliable Actions
Jing Liang, Kasun Weerakoon, Tianrui Guan +2
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that o…
TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan +2
We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interaction…
Image-Goal Navigation in Complex Environments via Modular Learning
Qiaoyun Wu, Jun Wang, Jing Liang +2
We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to…
XAI-N: Sensor-based Robot Navigation using Expert Policies and Decision Trees
Aaron M. Roth, Jing Liang, Dinesh Manocha
We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets.…
Autonomous Social Distancing in Urban Environments using a Quadruped Robot
Tingxiang Fan, Zhiming Chen, Xuan Zhao +5
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19.…
Realtime Collision Avoidance for Mobile Robots in Dense Crowds using Implicit Multi-sensor Fusion and Deep Reinforcement Learning
Jing Liang, Utsav Patel, Adarsh Jagan Sathyamoorthy +1
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses mult…