34 citations · 50 across the 32 of their papers we have counts for
10 papers · 1 filter
Pretrained Features as Teachers, Not States: Compact Latent World Models for Visual Planning
Yanbo Wang, Nan Lin, Wendelin Böhmer +1
A key design choice in visual world models is what information the latent state is encouraged to preserve. Models that learn a latent space with only a latent-prediction objective…
Risk-Aware Belief Control Barrier Functions over Random Finite Sets
Shaohang Han, Gang Chen, Yixi Cai +5
Ensuring robot safety in unknown, dynamic environments is a fundamental requirement. It involves inferring the states of an unknown and time-varying number of moving objects from n…
Language-Driven Cost Optimization for Autonomous Driving
Diego Martinez-Baselga, Khaled Mustafa, Javier Alonso-Mora
The driving behavior of autonomous vehicles is typically governed by the cost function of their motion planner, which encodes objectives such as speed tracking, smoothness, lane ke…
STEM: Semantic Target Search and Exploration using MAVs in Cluttered Environments
Nikhil Sethi, Max Lodel, Laura Ferranti +2
Autonomous target search is crucial for deploying Micro Aerial Vehicles (MAVs) in emergency response and rescue missions. Existing approaches either focus on 2D semantic navigation…
Coordinated Diffusion: Generating Multi-Agent Behavior Without Multi-Agent Demonstrations
Lasse Peters, Laura Ferranti, Andrea Bajcsy +1
Imitation learning powered by generative models has proven effective for modeling complex single-agent behaviors. However, teaching multi-agent systems, like multiple arms or vehic…
OpenSGA: Efficient 3D Scene Graph Alignment in the Open World
Gang Chen, Sebastián Barbas Laina, Stefan Leutenegger +1
Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding…
Learning Semantic Priorities for Autonomous Target Search
Max Lodel, Nils Wilde, Robert Babuška +1
The use of semantic features can improve the efficiency of target search in unknown environments for robotic search and rescue missions. Current target search methods rely on train…
Building Explicit World Model for Zero-Shot Open-World Object Manipulation
Xiaotong Li, Gang Chen, Javier Alonso-Mora
Open-world object manipulation remains a fundamental challenge in robotics. While Vision-Language-Action (VLA) models have demonstrated promising results, they rely heavily on larg…
BEACON: Language-Conditioned Navigation Affordance Prediction under Occlusion
Xinyu Gao, Gang Chen, Javier Alonso-Mora
Language-conditioned local navigation requires a robot to infer a nearby traversable target location from its current observation and an open-vocabulary, relational instruction. Ex…
Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing
Andrei-Carlo Papuc, Lasse Peters, Sihao Sun +2
Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decision-making. Success in this domain requires drones not only to navigate a…