7 papers
Fast Human Attention Prediction for Fixation-guided Active Perception in Autonomous Navigation
Fatma Youssef Mohammed, Grzegorz Malczyk, Kostas Alexis
Human visual attention relies on structured scanpaths to efficiently process scenes, yet instilling this behavior into robot autonomy is in its infancy and hindered by the high,com…
Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation
Luca Zanatta, Grzegorz Malczyk, Kostas Alexis
World models, learned generative models that predict how an environment evolves, have become a promising tool for sample-efficient robot learning. Yet how robust they are to enviro…
Cross-Modal Reinforcement Learning for Navigation with Degraded Depth Measurements
Omkar Sawant, Luca Zanatta, Grzegorz Malczyk +1
This paper presents a cross-modal learning framework that exploits complementary information from depth and grayscale images for robust navigation. We introduce a Cross-Modal Wasse…
Reinforcement Learning for Active Perception in Autonomous Navigation
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception,…
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
NVIDIA, :, Mayank Mittal +104
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab c…
Semantically-driven Deep Reinforcement Learning for Inspection Path Planning
Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
This paper introduces a novel semantics-aware inspection planning policy derived through deep reinforcement learning. Reflecting the fact that within autonomous informative path pl…