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120 Minutes and a Laptop: Minimalist Image-goal Navigation via Unsupervised Exploration and Offline RL
Xiaoming Liu, Borong Zhang, Qingbiao Li +1
The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this wor…
Embodied Visual Navigation with Automatic Curriculum Learning in Real Environments
Steven D. Morad, Roberto Mecca, Rudra P. K. Poudel +2
We present NavACL, a method of automatic curriculum learning tailored to the navigation task. NavACL is simple to train and efficiently selects relevant tasks using geometric featu…
A Spring Propelled Extreme Environment Robot for Off-World Cave Exploration
Steven Morad, Thomas Dailey, Leonard Vance +1
Pits on the Moon and Mars are intriguing geological formations that have yet to be explored. These geological formations can provide protection from harsh diurnal temperature varia…
Coordination and Control of Multiple Climbing Robots in Transport of Heavy Loads through Extreme Terrain
Himangshu Kalita, Steven Morad, Jekan Thangavelautham
The discovery of ice deposits in the permanently shadowed craters of the lunar North and South Pole Moon presents an important opportunity for In-Situ Resource Utilization. These i…
Planning and Navigation of Climbing Robots in Low-Gravity Environments
Steven Morad, Himangshu Kalita, Jekan Thangavelautham
Advances in planetary robotics have led to wheeled robots that have beamed back invaluable science data from the surface of the Moon and Mars. However, these large wheeled robots a…
Path Planning and Navigation Inside Off-World Lava Tubes and Caves
Himangshu Kalita, Steven Morad, Jekan Thangavelautham
Detailed surface images of the Moon and Mars reveal hundreds of cave-like openings. These cave-like openings are theorized to be remnants of lava-tubes and their interior maybe in…