9 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…
THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
Shivani Kamtikar, Pranav Asthana, Naveen Kumar Uppalapati +2
Manipulation in confined environments, such as threading a manipulator through narrow apertures, remains a fundamental challenge, especially for conventional rigid robots. Hybrid r…
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…
HyReach: Vision-Guided Hybrid Manipulator Reaching in Unseen Cluttered Environments
Shivani Kamtikar, Kendall Koe, Justin Wasserman +5
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptabili…
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…
Precision Harvesting in Cluttered Environments: Integrating End Effector Design with Dual Camera Perception
Kendall Koe, Poojan Kalpeshbhai Shah, Benjamin Walt +7
Due to labor shortages in specialty crop industries, a need for robotic automation to increase agricultural efficiency and productivity has arisen. Previous manipulation systems pe…