10 papers
Adapting Generalist Vehicle Models for High-Speed MPC Across Terrains
Rwik Rana, Jesse Quattrociocchi, Christian Ellis +3
The paper introduces OptCar, a method for adapting a generalist forward kinodynamic model to a specific vehicle using minimal real-world data and synthetic rollouts, improving high…
PreSIST: Vision-Language-Informed Object Persistence Prediction in Open-World Scenes
Amanda Adkins, Tarunvidyut Ravisankar, Joydeep Biswas
Robots deployed over long periods must reason about environments that change over time. Existing long-term perception systems often address object change reactively, updating their…
BEV-Patch-PF: Particle Filtering with BEV-Aerial Feature Matching for Off-Road Geo-Localization
Dongmyeong Lee, Jesse Quattrociocchi, Christian Ellis +5
We propose BEV-Patch-PF, a GPS-free sequential geo-localization system that integrates a particle filter with learned bird's-eye-view (BEV) and aerial feature maps. From onboard RG…
OVerSeeC: Open-Vocabulary Costmap Generation from Satellite Images and Natural Language
Rwik Rana, Jesse Quattrociocchi, Dongmyeong Lee +5
Aerial imagery provides essential global context for autonomous navigation, enabling route planning at scales inaccessible to onboard sensing. We address the problem of generating…
COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis
Wei Liu, Huihua Zhao, Chenran Li +4
As robots are increasingly deployed in diverse application domains, enabling robust mobility across different embodiments has become a critical challenge. Classical mobility stacks…
CLOVER: Context-aware Long-term Object Viewpoint- and Environment- Invariant Representation Learning
Dongmyeong Lee, Amanda Adkins, Joydeep Biswas
Mobile service robots can benefit from object-level understanding of their environments, including the ability to distinguish object instances and re-identify previously seen insta…