2 citations · 3 across the 6 of their papers we have counts for
7 papers
TRACKGRAPH: Online Open-Vocabulary 3D Scene Graphs via Image-Space Tracking
Peder Borge Hellesylt, Albert Gassol Puigjaner, Kostas Alexis +1
Open-vocabulary 3D maps enable robots to reason about previously unknown environments using natural language. However, existing systems typically segment every incoming image, asso…
Hierarchical Floorplan-Guided Vision-Language Exploration for Embodied Question Answering
Albert Gassol Puigjaner, Kostas Alexis
Embodied Question Answering (EQA) requires an agent to explore a previously unseen environment, gather relevant information, and answer questions about the scene. Recent approaches…
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis
Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneo…
Performance-driven Constrained Optimal Auto-Tuner for MPC
Albert Gassol Puigjaner, Manish Prajapat, Andrea Carron +2
A key challenge in tuning Model Predictive Control (MPC) cost function parameters is to ensure that the system performance stays consistently above a certain threshold. To address…
VF-NeRF: Learning Neural Vector Fields for Indoor Scene Reconstruction
Albert Gassol Puigjaner, Edoardo Mello Rella, Erik Sandström +2
Implicit surfaces via neural radiance fields (NeRF) have shown surprising accuracy in surface reconstruction. Despite their success in reconstructing richly textured surfaces, exis…
Augmented Reality without Borders: Achieving Precise Localization Without Maps
Albert Gassol Puigjaner, Irvin Aloise, Patrik Schmuck
Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accura…