12 citations · 20 across the 36 of their papers we have counts for
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Sensor-Layout-Agnostic Navigation via Geometric Observation Canonicalization
Welf Rehberg, Kostas Alexis
Existing visual navigation policies are inherently bound to fixed camera configurations, creating a fundamental barrier to zero-shot deployment across heterogeneous robot sensor la…
TRACKGRAPH: Online Open-Vocabulary 3D Scene Graphs via Image-Space Tracking
Peder Borge Hellesylt, Albert Gassol Puigjaner, Kostas Alexis +1
Open-vocabulary 3D maps enable robots to reason about previously unknown environments using natural language. However, existing systems typically segment every incoming image, asso…
Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering
Albert Gassol Puigjaner, Kostas Alexis
Embodied Question Answering (EQA) requires an agent to explore a previously unseen environment, gather relevant information, and answer questions about the scene. Recent approaches…
Design and Attitude Control of an Underwater Quadruped Robot
Davide Molinaroli, Mohit Singh, Kostas Alexis
Legged robots are versatile on land, but their use in underwater environments remains limited. Extending quadruped locomotion to water enables amphibious mobility with applications…
IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection
Mauhing Yip, Mohit Singh, Kostas Alexis +2
Both Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are frequently deployed to acquire geometric bathymetric data. However, it is often disc…
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1
We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a certain rotor count (e.g., hexarotors or quadrotors) with a single s…
Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation
Luca Zanatta, Grzegorz Malczyk, Kostas Alexis
World models, learned generative models that predict how an environment evolves, have become a promising tool for sample-efficient robot learning. Yet how robust they are to enviro…
Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control
Jørgen Anker Olsen, Kostas Alexis
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar l…
OmniPlanner: Universal Exploration and Inspection Path Planning Across Robot Morphologies
Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1
Autonomous robotic systems are increasingly deployed for mapping, monitoring, and inspection in complex and unstructured environments. However, most existing path planning approach…
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures
Welf Rehberg, Mihir Kulkarni, Philipp Weiss +1
Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodimen…
Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis
Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneo…
Reinforcement Learning for Active Perception in Autonomous Navigation
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception,…