15 papers
PIVOT: Perception-aware Independent Viewpoint Online Optimization
Yuyang Chen, Shekoufeh Sadeghi, Charuvahan Adhivarahan +4
A fundamental assumption in robotic perception is that the sensor's field of view (FoV) is fixed relative to the robot body. Motion-decoupled sensors, such as gimbal-mounted camera…
Rotation-Aware Point-Cloud Embeddings for Vision-Based In-Hand Reorientation
Yashom Dighe, Karthik Dantu
Point-cloud goals provide a direct way to specify dexterous in-hand reorientation: instead of defining an object-specific pose frame or estimating 6D pose at test time, the policy…
CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots
Kartikeya Singh, Youngjin Kim, Yash Turkar +1
Animals in nature combine multiple modalities, such as sight and feel, to perceive terrain and develop an understanding of how to walk on uneven terrain in an efficient manner. Sim…
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and p…
FastLoop: Parallel Loop Closing with GPU-Acceleration in Visual SLAM
Soudabeh Mohammadhashemi, Shishir Gopinath, Kimia Khabiri +3
Visual SLAM systems combine visual tracking with global loop closure to maintain a consistent map and accurate localization. Loop closure is a computationally expensive process as…
SLAM Adversarial Lab: An Extensible Framework for Visual SLAM Robustness Evaluation under Adverse Conditions
Mohamed Hefny, Karthik Dantu, Steven Y. Ko
We present SAL (SLAM Adversarial Lab), a modular framework for evaluating visual SLAM systems under adversarial conditions such as fog and rain. SAL represents each adversarial con…
QAL: A Loss for Recall Precision Balance in 3D Reconstruction
Pranay Meshram, Yash Turkar, Kartikeya Singh +3
Volumetric learning underpins many 3D vision tasks such as completion, reconstruction, and mesh generation, yet training objectives still rely on Chamfer Distance (CD) or Earth Mov…
QuayPoints: A Reasoning Framework to Bridge the Information Gap Between Global and Local Planning in Autonomous Racing
Yashom Dighe, Youngjin Kim, Karthik Dantu
Autonomous racing requires tight integration between perception, planning and control to minimize latency as well as timely decision making. A standard autonomy pipeline comprising…
Language-in-the-Loop Culvert Inspection on the Erie Canal
Yash Turkar, Yashom Dighe, Karthik Dantu
Culverts on canals such as the Erie Canal, built originally in 1825, require frequent inspections to ensure safe operation. Human inspection of culverts is challenging due to age,…
Automated Generation of Diverse Courses of Actions for Multi-Agent Operations using Binary Optimization and Graph Learning
Prithvi Poddar, Ehsan Tarkesh Esfahani, Karthik Dantu +1
Operations in disaster response, search \& rescue, and military missions that involve multiple agents demand automated processes to support the planning of the courses of action (C…
Active Illumination Control in Low-Light Environments using NightHawk
Yash Turkar, Youngjin Kim, Karthik Dantu
Subterranean environments such as culverts present significant challenges to robot vision due to dim lighting and lack of distinctive features. Although onboard illumination can he…
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
Christo Aluckal, Roopesh Vinodh Kumar Lal, Sean Courtney +5
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the…
MARs: Multi-view Attention Regularizations for Patch-based Feature Recognition of Space Terrain
Timothy Chase, Karthik Dantu
The visual detection and tracking of surface terrain is required for spacecraft to safely land on or navigate within close proximity to celestial objects. Current approaches rely o…
PANOS: Payload-Aware Navigation in Offroad Scenarios
Kartikeya Singh, Yash Turkar, Christo Aluckal +2
Nature has evolved humans to walk on different terrains by developing a detailed understanding of their physical characteristics. Similarly, legged robots need to develop their cap…
Learning Visual Information Utility with PIXER
Yash Turkar, Timothy Chase, Christo Aluckal +1
Accurate feature detection is fundamental for various computer vision tasks, including autonomous robotics, 3D reconstruction, medical imaging, and remote sensing. Despite advancem…