4 papers
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…
CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion
Francisco Affonso, Matheus P. Angarola, Ana Luiza Mineiro +3
Perceptive legged locomotion over discontinuous terrain (e.g., stairs, gaps, and obstacles) requires adaptive behavior, as a single conservative gait cannot produce the anticipator…
CATNAV: Cached Vision-Language Traversability for Efficient Zero-Shot Robot Navigation
Aditya Potnis, Francisco Affonso, Shreya Gummadi +2
Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a…
Agile manoeuvring of dandelion-inspired micro-flyers with vortex-enabled stability
Jianfeng Yang, Soumarup Bhattacharyya, Aditya Potnis +2
Manoeuvring untethered, centimetre-scale airborne structures has been a long-standing challenge. Active flight systems, relying on high-power-density actuators alongside mechanical…