5 citations · 13 across the 40 of their papers we have counts for
15 papers · 1 filter
FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting
Phu Pham, Damon Conover, Aniket Bera
We present FlashSLAM, a novel SLAM approach that leverages 3D Gaussian Splatting for efficient and robust 3D scene reconstruction. Existing 3DGS-based SLAM methods often fall short…
Zonal RL-RRT: Integrated RL-RRT Path Planning with Collision Probability and Zone Connectivity
AmirMohammad Tahmasbi, Amir Tahmasbi, MohammadSaleh Faghfoorian +2
Path planning in complex environments poses significant challenges, particularly in achieving time efficiency while maintaining a fair success rate and path cost. To address these…
EfficientEQA: An Efficient Approach to Open-Vocabulary Embodied Question Answering
Kai Cheng, Zhengyuan Li, Xingpeng Sun +3
Embodied Question Answering (EQA) is an essential yet challenging task for robot assistants. Large vision-language models (VLMs) have shown promise for EQA, but existing approaches…
COLLAGE: Collaborative Human-Agent Interaction Generation using Hierarchical Latent Diffusion and Language Models
Divyanshu Daiya, Damon Conover, Aniket Bera
We propose a novel framework COLLAGE for generating collaborative agent-object-agent interactions by leveraging large language models (LLMs) and hierarchical motion-specific vector…
Dynamic Obstacle Avoidance through Uncertainty-Based Adaptive Planning with Diffusion
Vineet Punyamoorty, Pascal Jutras-Dubé, Ruqi Zhang +3
By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models a…
Go-SLAM: Grounded Object Segmentation and Localization with Gaussian Splatting SLAM
Phu Pham, Dipam Patel, Damon Conover +1
We introduce Go-SLAM, a novel framework that utilizes 3D Gaussian Splatting SLAM to reconstruct dynamic environments while embedding object-level information within the scene repre…
MVGaussian: High-Fidelity text-to-3D Content Generation with Multi-View Guidance and Surface Densification
Phu Pham, Aradhya N. Mathur, Ojaswa Sharma +1
The field of text-to-3D content generation has made significant progress in generating realistic 3D objects, with existing methodologies like Score Distillation Sampling (SDS) offe…
SELP: Generating Safe and Efficient Task Plans for Robot Agents with Large Language Models
Yi Wu, Zikang Xiong, Yiran Hu +5
Despite significant advancements in large language models (LLMs) that enhance robot agents' understanding and execution of natural language (NL) commands, ensuring the agents adher…
Scalable Multi-Robot Informative Path Planning for Target Mapping via Deep Reinforcement Learning
Apoorva Vashisth, Manav Kulshrestha, Damon Conover +1
Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms o…
Hypergraph-based Coordinated Task Allocation and Socially-aware Navigation for Multi-Robot Systems
Weizheng Wang, Aniket Bera, Byung-Cheol Min
A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic…
TrustNavGPT: Modeling Uncertainty to Improve Trustworthiness of Audio-Guided LLM-Based Robot Navigation
Xingpeng Sun, Yiran Zhang, Xindi Tang +2
While LLMs are proficient at processing text in human conversations, they often encounter difficulties with the nuances of verbal instructions and, thus, remain prone to hallucinat…
Adaptive Planning with Generative Models under Uncertainty
Pascal Jutras-Dubé, Ruqi Zhang, Aniket Bera
Planning with generative models has emerged as an effective decision-making paradigm across a wide range of domains, including reinforcement learning and autonomous navigation. Whi…
Quantifying Uncertainty in Motion Prediction with Variational Bayesian Mixture
Juanwu Lu, Can Cui, Yunsheng Ma +2
Safety and robustness are crucial factors in developing trustworthy autonomous vehicles. One essential aspect of addressing these factors is to equip vehicles with the capability t…
Unifying Large Language Model and Deep Reinforcement Learning for Human-in-Loop Interactive Socially-aware Navigation
Weizheng Wang, Ike Obi, Aniket Bera +1
Navigating human-filled spaces is crucial for the interactive social robots to support advanced services, such as cooperative carrying, which enables service provision in complex a…
Beyond Text: Utilizing Vocal Cues to Improve Decision Making in LLMs for Robot Navigation Tasks
Xingpeng Sun, Haoming Meng, Souradip Chakraborty +2
While LLMs excel in processing text in these human conversations, they struggle with the nuances of verbal instructions in scenarios like social navigation, where ambiguity and unc…