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cs.RO2025
VISTA: Open-Vocabulary, Task-Relevant Robot Exploration with Online Semantic Gaussian Splatting
Keiko Nagami, Timothy Chen, Javier Yu +5
We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map qualit…
cs.RO2024
SOUS VIDE: Cooking Visual Drone Navigation Policies in a Gaussian Splatting Vacuum
JunEn Low, Maximilian Adang, Javier Yu +2
We propose a new simulator, training approach, and policy architecture, collectively called SOUS VIDE, for end-to-end visual drone navigation. Our trained policies exhibit zero-sho…
cs.RO2020
AirSim Drone Racing Lab
Ratnesh Madaan, Nicholas Gyde, Sai Vemprala +7
Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a s…