8 papers
SLAM: Structured and Localized Analytic Manifold Adaptation for Forgetting-Immune and Domain-Robust Lifelong VPR
Kenta Tsukahara, Kanji Tanaka, Rai Hisada
Visual Place Recognition (VPR) under long-term operation is essential for autonomous mobile robots. While Analytic Class-Incremental Learning (ACIL) provides memory-free () t…
Trajectory-Anchor Optimization for Overconfident Thermal Visual Place Recognition: Zero-Leakage OOD Auditing and Kidnapped-Robot Recovery
Zhiyuan Lu, Kanji Tanaka
Modern thermal visual place recognition (TIR-VPR) frontends based on foundation models achieve remarkable closed-set retrieval but suffer from an overconfident forced-matching fail…
From Reactive to Map-Based AI: Tuned Local LLMs for Semantic Zone Inference in Object-Goal Navigation
Yudai Noda, Kanji Tanaka
Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents…
Multi-Robot Data-Free Continual Communicative Learning (CCL) from Black-Box Visual Place Recognition Models
Kenta Tsukahara, Kanji Tanaka, Daiki Iwata +1
In emerging multi-robot societies, heterogeneous agents must continually extract and integrate local knowledge from one another through communication, even when their internal mode…
MOON: Multi-Objective Optimization-Driven Object-Goal Navigation Using a Variable-Horizon Set-Orienteering Planner
Daigo Nakajima, Kanji Tanaka, Daiki Iwata +1
This paper proposes MOON (Multi-Objective Optimization-driven Object-goal Navigation), a novel framework designed for efficient navigation in large-scale, complex indoor environmen…
ON as ALC: Active Loop Closing Object Goal Navigation
Daiki Iwata, Kanji Tanaka, Shoya Miyazaki +1
In simultaneous localization and mapping, active loop closing (ALC) is an active vision problem that aims to visually guide a robot to maximize the chances of revisiting previously…