2 citations · 6 across the 14 of their papers we have counts for
6 papers · 1 filter
To Ask or Not to Ask? Detecting Absence of Information in Vision and Language Navigation
Savitha Sam Abraham, Sourav Garg, Feras Dayoub
Recent research in Vision Language Navigation (VLN) has overlooked the development of agents' inquisitive abilities, which allow them to ask clarifying questions when instructions…
Learning from 10 Demos: Generalisable and Sample-Efficient Policy Learning with Oriented Affordance Frames
Krishan Rana, Jad Abou-Chakra, Sourav Garg +3
Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sampl…
Revisit Anything: Visual Place Recognition via Image Segment Retrieval
Kartik Garg, Sai Shubodh Puligilla, Shishir Kolathaya +2
Accurately recognizing a revisited place is crucial for embodied agents to localize and navigate. This requires visual representations to be distinct, despite strong variations in…
Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanisms
Chun-Jung Lin, Sourav Garg, Tat-Jun Chin +1
We present a novel method for scene change detection that leverages the robust feature extraction capabilities of a visual foundational model, DINOv2, and integrates full-image cro…
RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation
Sourav Garg, Krishan Rana, Mehdi Hosseinzadeh +4
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topolog…
QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding
Yash Mehan, Kumaraditya Gupta, Rohit Jayanti +3
Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily foc…