4 papers · 1 filter
Visual-Language-Guided Task Planning for Horticultural Robots
Jose Cuaran, Kendall Koe, Aditya Potnis +2
Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Vision Language Model (VL…
OctoSplat: Hybrid OctoMap-Gaussian Splatting for Active Semantic Mapping and Phenotyping with Horticultural Robots
Jose Cuaran, Naveen K. Uppalapati, Naveen K. Upalapati +1
Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield estimation. However, traditional approaches based on manual scanning or fix…
Active Semantic Mapping with Mobile Manipulator in Horticultural Environments
Jose Cuaran, Kulbir Singh Ahluwalia, Kendall Koe +2
Semantic maps are fundamental for robotics tasks such as navigation and manipulation. They also enable yield prediction and phenotyping in agricultural settings. In this paper, we…
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
Arun N. Sivakumar, Pranay Thangeda, Yixiao Fang +4
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception,…