5 citations · 26 across the 40 of their papers we have counts for
22 papers · 1 filter
Social-LLaVA: Enhancing Robot Navigation through Human-Language Reasoning in Social Spaces
Amirreza Payandeh, Daeun Song, Mohammad Nazeri +6
Most existing social robot navigation techniques either leverage hand-crafted rules or human demonstrations to connect robot perception to socially compliant actions. However, ther…
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne +5
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interpret…
ET-Former: Efficient Triplane Deformable Attention for 3D Semantic Scene Completion From Monocular Camera
Jing Liang, He Yin, Xuewei Qi +4
We introduce ET-Former, a novel end-to-end algorithm for semantic scene completion using a single monocular camera. Our approach generates a semantic occupancy map from single RGB…
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +5
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, u…
FALCON: Future-Aware Learning with Contextual Object-Centric Pretraining for UAV Action Recognition
Ruiqi Xian, Xiyang Wu, Tianrui Guan +3
We introduce FALCON, a unified self-supervised video pretraining approach for UAV action recognition from raw RGB aerial footage, requiring no additional preprocessing at inference…
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor +5
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear…
GND: Global Navigation Dataset with Multi-Modal Perception and Multi-Category Traversability in Outdoor Campus Environments
Jing Liang, Dibyendu Das, Daeun Song +6
Navigating large-scale outdoor environments requires complex reasoning in terms of geometric structures, environmental semantics, and terrain characteristics, which are typically c…
VLPG-Nav: Object Navigation Using Visual Language Pose Graph and Object Localization Probability Maps
Senthil Hariharan Arul, Dhruva Kumar, Vivek Sugirtharaj +6
We present VLPG-Nav, a visual language navigation method for guiding robots to specified objects within household scenes. Unlike existing methods primarily focused on navigating th…
TOPGN: Real-time Transparent Obstacle Detection using Lidar Point Cloud Intensity for Autonomous Robot Navigation
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor +2
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained…
VL-TGS: Trajectory Generation and Selection using Vision Language Models in Mapless Outdoor Environments
Daeun Song, Jing Liang, Xuesu Xiao +1
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich feat…
CSCPR: Cross-Source-Context Indoor RGB-D Place Recognition
Jing Liang, Zhuo Deng, Zheming Zhou +5
We extend our previous work, PoCo, and present a new algorithm, Cross-Source-Context Place Recognition (CSCPR), for RGB-D indoor place recognition that integrates global retrieval…
AutoHallusion: Automatic Generation of Hallucination Benchmarks for Vision-Language Models
Xiyang Wu, Tianrui Guan, Dianqi Li +9
Large vision-language models (LVLMs) are prone to hallucinations, where certain contextual cues in an image can trigger the language module to produce overconfident and incorrect r…
GAMEOPT+: Improving Fuel Efficiency in Unregulated Heterogeneous Traffic Intersections via Optimal Multi-agent Cooperative Control
Nilesh Suriyarachchi, Rohan Chandra, Arya Anantula +2
Better fuel efficiency leads to better financial security as well as a cleaner environment. We propose a novel approach for improving fuel efficiency in unstructured and unregulate…
LOC-ZSON: Language-driven Object-Centric Zero-Shot Object Retrieval and Navigation
Tianrui Guan, Yurou Yang, Harry Cheng +5
In this paper, we present LOC-ZSON, a novel Language-driven Object-Centric image representation for object navigation task within complex scenes. We propose an object-centric image…
AGL-NET: Aerial-Ground Cross-Modal Global Localization with Varying Scales
Tianrui Guan, Ruiqi Xian, Xijun Wang +4
We present AGL-NET, a novel learning-based method for global localization using LiDAR point clouds and satellite maps. AGL-NET tackles two critical challenges: bridging the represe…
PoCo: Point Context Cluster for RGBD Indoor Place Recognition
Jing Liang, Zhuo Deng, Zheming Zhou +5
We present a novel end-to-end algorithm (PoCo) for the indoor RGB-D place recognition task, aimed at identifying the most likely match for a given query frame within a reference da…
VLM-Social-Nav: Socially Aware Robot Navigation through Scoring using Vision-Language Models
Daeun Song, Jing Liang, Amirreza Payandeh +3
We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time d…
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor +6
We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: fir…
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy +3
We present AMCO, a novel navigation method for quadruped robots that adaptively combines vision-based and proprioception-based perception capabilities. Our approach uses three cost…
LBAP: Improved Uncertainty Alignment of LLM Planners using Bayesian Inference
James F. Mullen, Dinesh Manocha
Large language models (LLMs) showcase many desirable traits for intelligent and helpful robots. However, they are also known to hallucinate predictions. This issue is exacerbated i…
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation
Jing Liang, Amirreza Payandeh, Daeun Song +2
We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off…
On the Vulnerability of LLM/VLM-Controlled Robotics
Xiyang Wu, Souradip Chakraborty, Ruiqi Xian +6
In this work, we highlight vulnerabilities in robotic systems integrating large language models (LLMs) and vision-language models (VLMs) due to input modality sensitivities. While…