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cs.RO2026
CORAL-AUV: CFD Oriented Reinforcement Learning for Autonomous Underwater Vehicles
Steven Roche, Milo Van Mooy, Nathan McGuire +3
Fine grain control and positioning of autonomous underwater vehicles (AUVs) is critical for sampling, maintenance, and survey applications. Traditional control methods for AUVs are…
cs.RO2025
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…
cs.RO2024
PIETRA: Physics-Informed Evidential Learning for Traversing Out-of-Distribution Terrain
Xiaoyi Cai, James Queeney, Tong Xu +8
Self-supervised learning is a powerful approach for developing traversability models for off-road navigation, but these models often struggle with inputs unseen during training. Ex…