10 citations · 10 across the 5 of their papers we have counts for
11 papers · 1 filter
Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs
Jared Strader, Aaron Ray, Jacob Arkin +11
In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructio…
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Clio: Real-time Task-Driven Open-Set 3D Scene Graphs
Dominic Maggio, Yun Chang, Nathan Hughes +6
Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception…
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments
Lukas Schmid, Marcus Abate, Yun Chang +1
Perceiving and understanding highly dynamic and changing environments is a crucial capability for robot autonomy. While large strides have been made towards developing dynamic SLAM…
Kimera2: Robust and Accurate Metric-Semantic SLAM in the Real World
Marcus Abate, Yun Chang, Nathan Hughes +1
We present improvements to Kimera, an open-source metric-semantic visual-inertial SLAM library. In particular, we enhance Kimera-VIO, the visual-inertial odometry pipeline powering…
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
Nathan Hughes, Yun Chang, Siyi Hu +4
3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge.…