20 citations · 45 across the 25 of their papers we have counts for
16 papers · 1 filter
EgoSteer: An Open-Source Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos
Yifan Zhong, Zhang Chen, Tianrui Guan +15
The enduring vision of general-purpose robots serving humanity hinges fundamentally on policy steerability. However, prevailing paradigms of learning from expert demonstrations dem…
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…
NavMoE: Hybrid Model- and Learning-based Traversability Estimation for Local Navigation via Mixture of Experts
Botao He, Amir Hossein Shahidzadeh, Yu Chen +8
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions whil…
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +5
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, u…
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy +3
We present AMCO, a novel navigation method for quadruped robots that adaptively combines vision-based and proprioception-based perception capabilities. Our approach uses three cost…
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…
VINet: Visual and Inertial-based Terrain Classification and Adaptive Navigation over Unknown Terrain
Tianrui Guan, Ruitao Song, Zhixian Ye +1
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling s…
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…
TNS: Terrain Traversability Mapping and Navigation System for Autonomous Excavators
Tianrui Guan, Zhenpeng He, Ruitao Song +2
We present a terrain traversability mapping and navigation system (TNS) for autonomous excavator applications in an unstructured environment. We use an efficient approach to extrac…
GANav: Efficient Terrain Segmentation for Robot Navigation in Unstructured Outdoor Environments
Tianrui Guan, Divya Kothandaraman, Rohan Chandra +3
We propose GANav, a novel group-wise attention mechanism to identify safe and navigable regions in off-road terrains and unstructured environments from RGB images. Our approach cla…
OF-VO: Efficient Navigation among Pedestrians Using Commodity Sensors
Jing Liang, Yi-Ling Qiao, Tianrui Guan +1
We present a modified velocity-obstacle (VO) algorithm that uses probabilistic partial observations of the environment to compute velocities and navigate a robot to a target. Our s…
Frozone: Freezing-Free, Pedestrian-Friendly Navigation in Human Crowds
Adarsh Jagan Sathyamoorthy, Utsav Patel, Tianrui Guan +1
We present Frozone, a novel algorithm to deal with the Freezing Robot Problem (FRP) that arises when a robot navigates through dense scenarios and crowds. Our method senses and exp…
DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors
Adarsh Jagan Sathyamoorthy, Jing Liang, Utsav Patel +3
We present DenseCAvoid, a novel navigation algorithm for navigating a robot through dense crowds and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses…
Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs
Rohan Chandra, Tianrui Guan, Srujan Panuganti +4
We present a novel approach for traffic forecasting in urban traffic scenarios using a combination of spectral graph analysis and deep learning. We predict both the low-level infor…