6 citations · 13 across the 18 of their papers we have counts for
10 papers · 1 filter
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…