2 citations · 4 across the 8 of their papers we have counts for
5 papers · 1 filter
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…
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…
KPConvX: Modernizing Kernel Point Convolution with Kernel Attention
Hugues Thomas, Yao-Hung Hubert Tsai, Timothy D. Barfoot +1
In the field of deep point cloud understanding, KPConv is a unique architecture that uses kernel points to locate convolutional weights in space, instead of relying on Multi-Layer…
Embedding Pose Graph, Enabling 3D Foundation Model Capabilities with a Compact Representation
Hugues Thomas, Mouli Sivapurapu, Jian Zhang
This paper presents the Embedding Pose Graph (EPG), an innovative method that combines the strengths of foundation models with a simple 3D representation suitable for robotics appl…
Efficient Non-Parametric Uncertainty Quantification for Black-Box Large Language Models and Decision Planning
Yao-Hung Hubert Tsai, Walter Talbott, Jian Zhang
Step-by-step decision planning with large language models (LLMs) is gaining attention in AI agent development. This paper focuses on decision planning with uncertainty estimation t…