3 papers
cs.RO2026
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
cs.RO2026
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning
Sunghwan Kim, Woojeh Chung, Zhirui Dai +5
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We…
cs.RO2025
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction
Yulun Tian, Hanwen Cao, Sunghwan Kim +1
Neural implicit representations have had a significant impact on simultaneous localization and mapping (SLAM) by enabling robots to build continuous, differentiable, and high-fidel…