1 citations · 1 across the 7 of their papers we have counts for
8 papers
AirSplan: Risk-Aware Motion Planning for Quadrotors in Cluttered 3D Gaussian Splats
Seth Isaacson, William Hong, Katherine A. Skinner +1
Quadrotors are increasingly deployed in applications such as agriculture, infrastructure inspection, and maintenance. In each of these applications, the robot must navigate complex…
HumanSplatHMR: Closing the Loop Between Human Mesh Recovery and Gaussian Splatting Avatar
Yeheng Zong, Pou-Chun Kung, Yike Pan +4
Accurately recovering human pose and appearance from video is an essential component of scene reconstruction, with applications to motion capture, motion prediction, virtual realit…
LongNav-R1: Horizon-Adaptive Multi-Turn RL for Long-Horizon VLA Navigation
Yue Hu, Avery Xi, Qixin Xiao +4
This paper develops LongNav-R1, an end-to-end multi-turn reinforcement learning (RL) framework designed to optimize Visual-Language-Action (VLA) models for long-horizon navigation.…
SurfSLAM: Sim-to-Real Underwater Stereo Reconstruction For Real-Time SLAM
Onur Bagoren, Seth Isaacson, Sacchin Sundar +6
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks.…
These Magic Moments: Differentiable Uncertainty Quantification of Radiance Field Models
Parker Ewen, Hao Chen, Seth Isaacson +3
This paper introduces a novel approach to uncertainty quantification for radiance fields by leveraging higher-order moments of the rendering equation. Uncertainty quantification is…
Conformalized Reachable Sets for Obstacle Avoidance With Spheres
Yongseok Kwon, Jonathan Michaux, Seth Isaacson +4
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans…
Let's Make a Splan: Risk-Aware Trajectory Optimization in a Normalized Gaussian Splat
Jonathan Michaux, Seth Isaacson, Challen Enninful Adu +6
Neural Radiance Fields and Gaussian Splatting have recently transformed computer vision by enabling photo-realistic representations of complex scenes. However, they have seen limit…
LONER: LiDAR Only Neural Representations for Real-Time SLAM
Seth Isaacson, Pou-Chun Kung, Mani Ramanagopal +2
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising res…