20 citations · 34 across the 11 of their papers we have counts for
11 papers
World Model Failure Classification and Anomaly Detection for Autonomous Inspection
Michelle Ho, Muhammad Fadhil Ginting, Isaac R. Ward +4
Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to o…
Enter the Mind Palace: Reasoning and Planning for Long-term Active Embodied Question Answering
Muhammad Fadhil Ginting, Dong-Ki Kim, Xiangyun Meng +10
As robots become increasingly capable of operating over extended periods -- spanning days, weeks, and even months -- they are expected to accumulate knowledge of their environments…
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…
SayComply: Grounding Field Robotic Tasks in Operational Compliance through Retrieval-Based Language Models
Muhammad Fadhil Ginting, Dong-Ki Kim, Sung-Kyun Kim +4
This paper addresses the problem of task planning for robots that must comply with operational manuals in real-world settings. Task planning under these constraints is essential fo…
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments
Muhammad Fadhil Ginting, Kyohei Otsu, Mykel J. Kochenderfer +1
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we fo…
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks
Muhammad Fadhil Ginting, Sung-Kyun Kim, David D. Fan +3
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections i…
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments
Muhammad Fadhil Ginting, David D. Fan, Sung-Kyun Kim +2
This paper addresses the problem of autonomous robotic inspection in complex and unknown environments. This capability is crucial for efficient and precise inspections in various r…
Safe and Efficient Navigation in Extreme Environments using Semantic Belief Graphs
Muhammad Fadhil Ginting, Sung-Kyun Kim, Oriana Peltzer +4
To achieve autonomy in unknown and unstructured environments, we propose a method for semantic-based planning under perceptual uncertainty. This capability is crucial for safe and…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur +8
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, pa…