3 citations · 9 across the 17 of their papers we have counts for
17 papers
VLM-Based Advanced Rider Assistance System for Motorcycle Safety
Mohamed Elnoor, Francesca Baldini, Ananya Trivedi +6
Motorcycles face disproportionately high crash risks compared to cars due to limited protection and heightened sensitivity to surface hazards, yet Advanced Rider Assistance Systems…
Adaptive Time Step Flow Matching for Autonomous Driving Motion Planning
Ananya Trivedi, Anjian Li, Mohamed Elnoor +7
Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at gene…
DR. Nav: Semantic-Geometric Representations for Proactive Dead-End Recovery and Navigation
Vignesh Rajagopal, Kasun Weerakoon Kulathun Mudiyanselage, Gershom Devake Seneviratne +5
We present DR. Nav (Dead-End Recovery-aware Navigation), a novel approach to autonomous navigation in scenarios where dead-end detection and recovery are critical, particularly in…
HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation
Gershom Seneviratne, Jianyu An, Sahire Ellahy +5
In this paper, we introduce HALO, a novel Offline Reward Learning algorithm that quantifies human intuition in navigation into a vision-based reward function for robot navigation.…
ViLAM: Distilling Vision-Language Reasoning into Attention Maps for Social Robot Navigation
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +3
We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot naviga…
BehAV: Behavioral Rule Guided Autonomy Using VLMs for Robot Navigation in Outdoor Scenes
Kasun Weerakoon, Mohamed Elnoor, Gershom Seneviratne +5
We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interpret…
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Gershom Seneviratne +5
We present a novel autonomous robot navigation algorithm for outdoor environments that is capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav, u…
CROSS-GAiT: Cross-Attention-Based Multimodal Representation Fusion for Parametric Gait Adaptation in Complex Terrains
Gershom Seneviratne, Kasun Weerakoon, Mohamed Elnoor +5
We present CROSS-GAiT, a novel algorithm for quadruped robots that uses Cross Attention to fuse terrain representations derived from visual and time-series inputs; including linear…
TOPGN: Real-time Transparent Obstacle Detection using Lidar Point Cloud Intensity for Autonomous Robot Navigation
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor +2
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained…
AGL-NET: Aerial-Ground Cross-Modal Global Localization with Varying Scales
Tianrui Guan, Ruiqi Xian, Xijun Wang +4
We present AGL-NET, a novel learning-based method for global localization using LiDAR point clouds and satellite maps. AGL-NET tackles two critical challenges: bridging the represe…
CoNVOI: Context-aware Navigation using Vision Language Models in Outdoor and Indoor Environments
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor +6
We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: fir…
AMCO: Adaptive Multimodal Coupling of Vision and Proprioception for Quadruped Robot Navigation in Outdoor Environments
Mohamed Elnoor, Kasun Weerakoon, Adarsh Jagan Sathyamoorthy +3
We present AMCO, a novel navigation method for quadruped robots that adaptively combines vision-based and proprioception-based perception capabilities. Our approach uses three cost…
AdVENTR: Autonomous Robot Navigation in Complex Outdoor Environments
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor +1
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and c…
Using Lidar Intensity for Robot Navigation
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor +1
We present Multi-Layer Intensity Map, a novel 3D object representation for robot perception and autonomous navigation. Intensity maps consist of multiple stacked layers of 2D grid…
VAPOR: Legged Robot Navigation in Outdoor Vegetation Using Offline Reinforcement Learning
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Mohamed Elnoor +1
We present VAPOR, a novel method for autonomous legged robot navigation in unstructured, densely vegetated outdoor environments using offline Reinforcement Learning (RL). Our metho…
MTG: Mapless Trajectory Generator with Traversability Coverage for Outdoor Navigation
Jing Liang, Peng Gao, Xuesu Xiao +4
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specif…
ProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments
Mohamed Elnoor, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon +1
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our appro…