4 papers
VAMOS: A Hierarchical Vision-Language-Action Model for Capability-Modulated and Steerable Navigation
Mateo Guaman Castro, Sidharth Rajagopal, Daniel Gorbatov +9
A fundamental challenge in robot navigation lies in learning policies that generalize across diverse environments while conforming to the unique physical constraints and capabiliti…
Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are mo…
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
Matt Schmittle, Rohan Baijal, Nathan Hatch +6
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a…
Wheeled Lab: Modern Sim2Real for Low-cost, Open-source Wheeled Robotics
Tyler Han, Preet Shah, Sidharth Rajagopal +9
Reinforcement Learning (RL) has been pivotal in recent robotics milestones and is poised to play a prominent role in the future. However, these advances can rely on proprietary sim…