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Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
Inkyu Jang, Gregorio Marchesini, Nicola De Carli +15
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation…
Safe Embodied AI for Long-horizon Tasks: A Cross-layer Analysis of Robotic Manipulation
Dabin Kim, Daemin Park, Sangyub Lee +4
Embodied AI systems are increasingly expected to reason and act over extended horizons in physical environments. This growing capability brings safety to the foreground, because fa…
ReaDy-Go: Real-to-Sim Dynamic 3D Gaussian Splatting Simulation for Environment-Specific Visual Navigation with Moving Obstacles
Seungyeon Yoo, Youngseok Jang, Dabin Kim +3
Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to targ…
Personalized Autonomous Driving via Optimal Control with Clearance Constraints from Questionnaires
Yongjae Lim, Dabin Kim, H. Jin Kim
Driving without considering the preferred separation distance from surrounding vehicles may cause discomfort for users. To address this limitation, we propose a planning framework…
HERE: Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization
Taekbeom Lee, Dabin Kim, Youngseok Jang +1
We present HERE, an active 3D scene reconstruction framework based on neural radiance fields, enabling high-fidelity implicit mapping. Our approach centers around an active learnin…