5 citations · 5 across the 9 of their papers we have counts for
12 papers
Beyond Visual Quality: A Study of Test-Time Planning with World Action Models
Jianhao Yuan, Yu Yuan, Benjamin Ramtoula +5
World action models generate actions together with visual predictions of their consequences. These paired outputs create the potential for planning by sampling multiple actions fro…
Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
Effie Daum, Daniele De Martini, Claire Dune +1
In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated estimates remains an open challenge. The domain is widely reliant on Ab…
Multi-Robot Planning and Control from CCTV Camera Networks in a Real Warehouse
Luke Robinson, Benjamin Ramtoula, Anas Izaaryene +2
Off-board control of mobile robots from cameras embedded in the environment offers a practical path to scalable autonomy, moving sensing and compute off the robots. We extend this…
RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots
Giorgia Modi, Davide Buoso, Giuseppe Averta +1
Current approaches to 3D scene graph generation rely on dedicated depth sensors, such as LiDAR or RGB-D cameras, for metric 3D reconstruction. This limits deployment to specialized…
Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation
Giorgia Modi, Davide Buoso, Giuseppe Averta +1
Commonly available prior information, such as BIM models, floor plans, and remote sensing images, can provide valuable geometric and semantic context for autonomous robotic systems…
3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM
Pierre-Yves Lajoie, Benjamin Ramtoula, Daniele De Martini +1
Decentralized Collaborative Simultaneous Localization And Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots.…
Fantastic Features and Where to Find Them: A Probing Method to combine Features from Multiple Foundation Models
Benjamin Ramtoula, Pierre-Yves Lajoie, Paul Newman +1
Foundation models (FMs) trained with different objectives and data learn diverse representations, making some more effective than others for specific downstream tasks. Existing ada…
Select2Plan: Training-Free ICL-Based Planning through VQA and Memory Retrieval
Davide Buoso, Luke Robinson, Giuseppe Averta +3
This study explores the potential of off-the-shelf Vision-Language Models (VLMs) for high-level robot planning in the context of autonomous navigation. Indeed, while most of existi…
NeRFoot: Robot-Footprint Estimation for Image-Based Visual Servoing
Daoxin Zhong, Luke Robinson, Daniele De Martini
This paper investigates the utility of Neural Radiance Fields (NeRF) models in extending the regions of operation of a mobile robot, controlled by Image-Based Visual Servoing (IBVS…
RobotCycle: Assessing Cycling Safety in Urban Environments
Efimia Panagiotaki, Tyler Reinmund, Stephan Mouton +9
This paper introduces RobotCycle, a novel ongoing project that leverages Autonomous Vehicle (AV) research to investigate how road infrastructure influences cyclist behaviour and sa…
AutoInspect: Towards Long-Term Autonomous Industrial Inspection
Michal Staniaszek, Tobit Flatscher, Joseph Rowell +6
We give an overview of AutoInspect, a ROS-based software system for robust and extensible mission-level autonomy. Over the past three years AutoInspect has been deployed in a varie…
RSL-Net: Localising in Satellite Images From a Radar on the Ground
Tim Y. Tang, Daniele De Martini, Dan Barnes +1
This paper is about localising a vehicle in an overhead image using FMCW radar mounted on a ground vehicle. FMCW radar offers extraordinary promise and efficacy for vehicle localis…