5 papers
VEGA: Learning Navigation VLAs from In-the-Wild Egocentric Video with Geometric Trajectory Supervision
Gershom Seneviratne, Yohan Abeysinghe, Jianyu An +3
We introduce VEGA, an approach for training navigation VisionLanguage-Action (VLA) models from unlabeled egocentric navigation videos. Internet-scale egocentric videos provide a sc…
Splatblox: Traversability-Aware Gaussian Splatting for Outdoor Robot Navigation
Samarth Chopra, Jing Liang, Gershom Seneviratne +5
We present Splatblox, a real-time system for autonomous navigation in outdoor environments with dense vegetation, irregular obstacles, and complex terrain. Our method fuses segment…
ROVER: Regulator-Driven Robust Temporal Verification of Black-Box Robot Policies
Kristy Sakano, Jianyu An, Dinesh Manocha +1
We present a novel, regulator-driven approach for the temporal verification of black-box autonomous robot policies, inspired by real-world certification processes where regulators…
CHOP: Counterfactual Human Preference Labels Improve Obstacle Avoidance in Visuomotor Navigation Policies
Gershom Seneviratne, Jianyu An, Vaibhav Shende +6
Visuomotor navigation policies have shown strong perception-action coupling for embodied agents, yet they often struggle with safe navigation and dynamic obstacle avoidance in comp…
HALO: Human Preference Aligned Offline Reward Learning for Robot Navigation
Gershom Seneviratne, Jianyu An, Sahire Ellahy +5
In this paper, we introduce HALO, a novel Offline Reward Learning algorithm that quantifies human intuition in navigation into a vision-based reward function for robot navigation.…