9 papers · 1 filter
Belief Consistency Between Foundation-Model Evidence and Geometric Perception in Persistent Robotic Maps
Christoffer Heckman, Harel Biggie, Brendan Crowe +1
Persistent maps used by autonomous robots increasingly fuse a geometric perception stack whose assertions are well-characterized with a foundation-model channel that produces seman…
Weather-Robust Scene Semantics with Vision-Aligned 4D Radar
Kali Hamilton, Christoffer Heckman
Cameras and LiDAR degrade in rain, fog, and snow, while millimeter-wave radar remains largely unaffected. We align a radar encoder to frozen SigLIP vision embeddings and decode str…
RF-Modulated Adaptive Communication Improves Multi-Agent Robotic Exploration
Lorin Achey, Breanne Crockett, Christoffer Heckman +1
Reliable coordination and efficient communication are critical challenges for multi-agent robotic exploration of environments where communication is limited. This work introduces A…
Robust Robotic Exploration and Mapping Using Generative Occupancy Map Synthesis
Lorin Achey, Alec Reed, Brendan Crowe +2
We present a novel approach for enhancing robotic exploration by using generative occupancy mapping. We implement SceneSense, a diffusion model designed and trained for predicting…
Spatial-LLaVA: Enhancing Large Language Models with Spatial Referring Expressions for Visual Understanding
Xuefei Sun, Doncey Albin, Cecilia Mauceri +2
Multimodal large language models (MLLMs) have demonstrated remarkable abilities in comprehending visual input alongside text input. Typically, these models are trained on extensive…
Foundation Models for Rapid Autonomy Validation
Alec Farid, Peter Schleede, Aaron Huang +1
We are motivated by the problem of autonomous vehicle performance validation. A key challenge is that an autonomous vehicle requires testing in every kind of driving scenario it co…