5 papers
SLIM-VDB: A Real-Time 3D Probabilistic Semantic Mapping Framework
Anja Sheppard, Parker Ewen, Joey Wilson +6
This paper introduces SLIM-VDB, a new lightweight semantic mapping system with probabilistic semantic fusion for closed-set or open-set dictionaries. Advances in data structures fr…
Boosting Zero-Shot VLN via Abstract Obstacle Map-Based Waypoint Prediction with TopoGraph-and-VisitInfo-Aware Prompting
Boqi Li, Siyuan Li, Weiyi Wang +3
With the rapid progress of foundation models and robotics, vision-language navigation (VLN) has emerged as a key task for embodied agents with broad practical applications. We addr…
DEFT: Differentiable Branched Discrete Elastic Rods for Modeling Furcated DLOs in Real-Time
Yizhou Chen, Xiaoyue Wu, Felicia Sang +6
Autonomous wire-harness assembly requires precise, reliable manipulation of branched cables, whose deformation is difficult to predict. Models for single Deformable Linear Objects…
You've Got to Feel It To Believe It: Multi-Modal Bayesian Inference for Semantic and Property Prediction
Parker Ewen, Hao Chen, Yuzhen Chen +4
Robots must be able to understand their surroundings to perform complex tasks in challenging environments and many of these complex tasks require estimates of physical properties s…
Sewage Discharging in a Line: Global Optimization and Grand Cooperation
Xucheng Liu, Lindong Liu, Yifu Li +1
Players cooperating in a line is a special while essential phenomenon in real life collaborating activities such as assembly line production, pipeline supply chain management and o…