3 papers
cs.CV2025
Pts3D-LLM: Studying the Impact of Token Structure for 3D Scene Understanding With Large Language Models
Hugues Thomas, Chen Chen, Jian Zhang
Effectively representing 3D scenes for Multimodal Large Language Models (MLLMs) is crucial yet challenging. Existing approaches commonly only rely on 2D image features and use vari…
cs.RO2024
DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation
James R. Han, Hugues Thomas, Jian Zhang +2
How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simula…
cs.RO2024
MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR
Binbin Xu, Allen Tao, Hugues Thomas +2
In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identi…