15 papers
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
Nicolas Baumann, Liam Boyle, Pu Deng +5
Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental perception with language context, serving as a catalyst for open-voca…
RobotxR1: Enabling Embodied Robotic Intelligence on Large Language Models through Closed-Loop Reinforcement Learning
Liam Boyle, Nicolas Baumann, Paviththiren Sivasothilingam +2
Future robotic systems operating in real-world environments will require on-board embodied intelligence without continuous cloud connection, balancing capabilities with constraints…
MCTR: Midpoint Corrected Triangulation for Autonomous Racing via Digital Twin Simulation in CARLA
Junhao Ye, Cheng Hu, Yiqin Wang +6
In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This by…
FSDP: Fast and Safe Data-Driven Overtaking Trajectory Planning for Head-to-Head Autonomous Racing Competitions
Cheng Hu, Jihao Huang, Wule Mao +7
Generating overtaking trajectories in autonomous racing is a challenging task, as the trajectory must satisfy the vehicle's dynamics and ensure safety and real-time performance run…
M-Predictive Spliner: Enabling Spatiotemporal Multi-Opponent Overtaking for Autonomous Racing
Nadine Imholz, Maurice Brunner, Nicolas Baumann +2
Unrestricted multi-agent racing presents a significant research challenge, requiring decision-making at the limits of a robot's operational capabilities. While previous approaches…
R-CARLA: High-Fidelity Sensor Simulations with Interchangeable Dynamics for Autonomous Racing
Maurice Brunner, Edoardo Ghignone, Nicolas Baumann +1
Autonomous racing has emerged as a crucial testbed for autonomous driving algorithms, necessitating a simulation environment for both vehicle dynamics and sensor behavior. Striking…