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cs.RO2026
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…
cs.RO2026
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…
cs.RO2026
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…