4 papers · 1 filter
Spatiotemporal Knowledge Graphs as Persistent Scene Memory for Embodied Question Answering
Mohamad Al Mdfaa, Svetlana Lukina, Timur Akhtyamov +4
Vision-language models (VLMs) demonstrate strong image-level scene understanding, but reasoning over long egocentric video remains costly: because VLMs maintain no persistent memor…
PixelNav: Towards Model-based Vision-Only Navigation with Topological Graphs
Sergey Bakulin, Timur Akhtyamov, Denis Fatykhov +2
This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning…
EgoWalk: A Multimodal Dataset for Robot Navigation in the Wild
Timur Akhtyamov, Mohamad Al Mdfaa, Javier Antonio Ramirez Benavides +11
Data-driven navigation algorithms are critically dependent on large-scale, high-quality real-world data collection for successful training and robust performance in realistic and u…
Social Robot Navigation through Constrained Optimization: a Comparative Study of Uncertainty-based Objectives and Constraints
Timur Akhtyamov, Aleksandr Kashirin, Aleksey Postnikov +1
This work is dedicated to the study of how uncertainty estimation of the human motion prediction can be embedded into constrained optimization techniques, such as Model Predictive…