6 papers
From Language Priors to Field Adaptation: Preference Learning for Traversability Estimation
Simon Schwaiger, David Seyser, Alessandro Scherl +3
Image-based traversability estimation is inherently dependent on the robot platform, deployment domain, and mission preferences, which limits the applicability of purpose-trained m…
ART-VS: Adaptive Resolution Tiling for Vision Transformer Visual Servoing
Alessandro Scherl, Bernhard Neuberger, Simon Schwaiger +3
Visual servoing with self-supervised Vision Transformer (ViT) features enables training-free robotic positioning with strong generalization, but faces a fundamental trade-off betwe…
ReSiReg: Towards Spatially Consistent Semantics in Language-Conditioned Robotic Tasks
Simon Schwaiger, David Seyser, Alessandro Scherl +2
Vision-Language Models (VLMs) enable robots to follow open-language instructions. However, dense VLM embeddings have shown to be noisy and lack spatial consistency. This is problem…
OTAS: Open-vocabulary Token Alignment for Outdoor Segmentation
Simon Schwaiger, Stefan Thalhammer, Wilfried Wöber +1
Understanding open-world semantics is critical for robotic planning and control, particularly in unstructured outdoor environments. Existing vision-language mapping approaches typi…
From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models
Tessa Pulli, Stefan Thalhammer, Simon Schwaiger +1
Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. To detect and grasp novel objects, zero-shot pose esti…
UGV-CBRN: An Unmanned Ground Vehicle for Chemical, Biological, Radiological, and Nuclear Disaster Response
Simon Schwaiger, Lucas Muster, Georg Novotny +4
Robotic search and rescue (SAR) supports response teams by accelerating disaster assessment and by keeping operators away from hazardous environments. In the event of a chemical, b…