6 citations · 13 across the 18 of their papers we have counts for
18 papers
EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking
Dexter Ong, Vijay Kumar, Pratik Chaudhari
Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated heterogeneous teams. This can be difficult to do using conventional fra…
Time-to-Collision Based Dynamic Obstacle Avoidance Using Pretrained Vision Models for Robots in Unstructured Environments
Erik Jagnandan, Mulugeta Haile, Gregory Barber +1
Dynamic obstacle avoidance in unstructured outdoor environments remains a critical challenge for autonomous mobile robots, particularly when large-scale robot-specific training dat…
HALO: High-Altitude Language-Conditioned Monocular Aerial Exploration and Navigation
Yuezhan Tao, Dexter Ong, Fernando Cladera +4
We demonstrate real-time high-altitude aerial metric-semantic mapping and exploration using a monocular camera paired with a global positioning system (GPS) and an inertial measure…
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Reactive Long-Horizon Manipulation
Yifei Simon Shao, Yuchen Zheng, Sunan Sun +3
Multi-step manipulation in dynamic environments remains challenging. Imitation learning (IL) is reactive but lacks compositional generalization, since monolithic policies do not de…
Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments
Dexter Ong, Yuezhan Tao, Varun Murali +3
In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environme…
Estimating the Diameter at Breast Height of Trees in a Forest from RGB
Siming He, Zachary Osman, Fernando Cladera +5
Forest inventories rely on accurate measurements of the diameter at breast height (DBH) for ecological monitoring, resource management, and carbon accounting. While LiDAR-based tec…
ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting
Dexter Ong, Yuezhan Tao, Varun Murali +3
We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on informative metric-semantic maps…
Don't Yell at Your Robot: Physical Correction as the Collaborative Interface for Language Model Powered Robots
Chuye Zhang, Yifei Simon Shao, Harshil Parekh +4
We present a novel approach for enhancing human-robot collaboration using physical interactions for real-time error correction of large language model (LLM) powered robots. Unlike…
Spatio-Temporal Metric-Semantic Mapping for Persistent Orchard Monitoring: Method and Dataset
Jiuzhou Lei, Ankit Prabhu, Xu Liu +5
Monitoring orchards at the individual tree or fruit level throughout the growth season is crucial for plant phenotyping and horticultural resource optimization, such as chemical us…
RT-GuIDE: Real-Time Gaussian Splatting for Information-Driven Exploration
Yuezhan Tao, Dexter Ong, Varun Murali +3
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algor…
Constraint-Aware Intent Estimation for Dynamic Human-Robot Object Co-Manipulation
Yifei Simon Shao, Tianyu Li, Shafagh Keyvanian +3
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks int…
A Confidence Interval for the Expected Calibration Error
Yan Sun, Pratik Chaudhari, Ian J. Barnett +1
Recent advances in machine learning have significantly improved prediction accuracy in various applications. However, ensuring the calibration of probabilistic predictions remains…
SlideSLAM: Sparse, Lightweight, Decentralized Metric-Semantic SLAM for Multi-Robot Navigation
Xu Liu, Jiuzhou Lei, Ankit Prabhu +5
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps.…
Towards Optimizing a Convex Cover of Collision-Free Space for Trajectory Generation
Yuwei Wu, Igor Spasojevic, Pratik Chaudhari +1
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The conv…
Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments
Christopher D. Hsu, Pratik Chaudhari
We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We sho…
From NeRFs to Gaussian Splats, and Back
Siming He, Zach Osman, Pratik Chaudhari
For robotics applications where there is a limited number of (typically ego-centric) views, parametric representations such as neural radiance fields (NeRFs) generalize better than…
An Active Perception Game for Robust Exploration
Siming He, Yuezhan Tao, Igor Spasojevic +2
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locati…
Active Perception using Neural Radiance Fields
Siming He, Christopher D. Hsu, Dexter Ong +2
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses…