6 papers · 1 filter
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…