4 papers
Multimodal embodiment-aware navigation transformer
Louis Dezons, Quentin Picard, Rémi Marsal +2
Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degr…
An Open-Source LiDAR and Monocular Off-Road Autonomous Navigation Stack
Rémi Marsal, Quentin Picard, Adrien Poiré +5
Off-road autonomous navigation demands reliable 3D perception for robust obstacle detection in challenging unstructured terrain. While LiDAR is accurate, it is costly and power-int…
NAMOUnc: Navigation Among Movable Obstacles with Decision Making on Uncertainty Interval
Kai Zhang, Eric Lucet, Julien Alexandre Dit Sandretto +2
Navigation among movable obstacles (NAMO) is a critical task in robotics, often challenged by real-world uncertainties such as observation noise, model approximations, action failu…
A Simple yet Effective Test-Time Adaptation for Zero-Shot Monocular Metric Depth Estimation
Rémi Marsal, Alexandre Chapoutot, Philippe Xu +1
The recent development of \emph{foundation models} for monocular depth estimation such as Depth Anything paved the way to zero-shot monocular depth estimation. Since it returns an…