5 papers
OctoSense: Self-Supervised Learning for Multimodal Robot Perception
Anthony Bisulco, Jeremy Wang, Kostas Daniilidis +2
We present OctoSense, an open-source sensor platform with stereo RGB and event cameras, LiDAR, a thermal camera, an inertial measurement unit, RTK-corrected global positioning syst…
Neurosim: A Fast Simulator for Neuromorphic Robot Perception
Richeek Das, Pratik Chaudhari
Neurosim is a fast, real-time, high-performance library for simulating sensors such as dynamic vision sensors, RGB cameras, depth sensors, and inertial sensors. It can also simulat…
Maestro: Orchestrating Robotics Modules with Vision-Language Models for Zero-Shot Generalist Robots
Junyao Shi, Rujia Yang, Kaitian Chao +9
Today's best-explored routes towards generalist robots center on collecting ever larger "observations-in actions-out" robotics datasets to train large end-to-end models, copying a…
Fast Feature Field (): A Predictive Representation of Events
Richeek Das, Kostas Daniilidis, Pratik Chaudhari
This paper develops a mathematical argument and algorithms for building representations of data from event-based cameras, that we call Fast Feature Field (). We learn t…
dSTAR: Straggler Tolerant and Byzantine Resilient Distributed SGD
Jiahe Yan, Pratik Chaudhari, Leonard Kleinrock
Distributed model training needs to be adapted to challenges such as the straggler effect and Byzantine attacks. When coordinating the training process with multiple computing node…