4 papers
Narrate2Nav: Real-Time Visual Navigation with Implicit Language Reasoning in Human-Centric Environments
Amirreza Payandeh, Anuj Pokhrel, Daeun Song +2
Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intention…
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Madhan B. Rao +4
Recent advancement in off-road autonomy has shown promises in deploying autonomous mobile robots in outdoor off-road environments. Encouraging results have been reported from both…
VertiFormer: A Data-Efficient Multi-Task Transformer for Off-Road Robot Mobility
Mohammad Nazeri, Anuj Pokhrel, Alexandyr Card +3
Sophisticated learning architectures, e.g., Transformers, present a unique opportunity for robots to understand complex vehicle-terrain kinodynamic interactions for off-road mobili…
Traverse the Non-Traversable: Estimating Traversability for Wheeled Mobility on Vertically Challenging Terrain
Chenhui Pan, Aniket Datar, Anuj Pokhrel +3
Most traversability estimation techniques divide off-road terrain into traversable (e.g., pavement, gravel, and grass) and non-traversable (e.g., boulders, vegetation, and ditches)…