24 citations · 30 across the 12 of their papers we have counts for
3 papers · 1 filter
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks
Zachary Ravichandran, Lisa Peng, Nathan Hughes +2
Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic…
Dynamic Grasping with a "Soft" Drone: From Theory to Practice
Joshua Fishman, Samuel Ubellacker, Nathan Hughes +1
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This…
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Antoni Rosinol, Andrew Violette, Marcus Abate +5
Humans are able to form a complex mental model of the environment they move in. This mental model captures geometric and semantic aspects of the scene, describes the environment at…