14 papers
Time-to-Collision Based Dynamic Obstacle Avoidance Using Pretrained Vision Models for Robots in Unstructured Environments
Erik Jagnandan, Mulugeta Haile, Gregory Barber +1
Dynamic obstacle avoidance in unstructured outdoor environments remains a critical challenge for autonomous mobile robots, particularly when large-scale robot-specific training dat…
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
Yifei Simon Shao, Yuchen Zheng, Sunan Sun +3
Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not de…
Estimating the Diameter at Breast Height of Trees in a Forest from RGB
Siming He, Zachary Osman, Fernando Cladera +5
Forest inventories rely on accurate measurements of the diameter at breast height (DBH) for ecological monitoring, resource management, and carbon accounting. While LiDAR-based tec…
An Active Perception Game for Robust Exploration
Siming He, Yuezhan Tao, Igor Spasojevic +2
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locati…
HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation
Yuezhan Tao, Dexter Ong, Fernando Cladera +4
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measure…
RT-GuIDE: Real-Time Gaussian Splatting for Information-Driven Exploration
Yuezhan Tao, Dexter Ong, Varun Murali +3
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algor…