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cs.RO2025
VENTURA: Adapting Image Diffusion Models for Unified Task Conditioned Navigation
Arthur Zhang, Xiangyun Meng, Luca Calliari +5
Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding…
cs.CV2025
Guiding Diffusion with Deep Geometric Moments: Balancing Fidelity and Variation
Sangmin Jung, Utkarsh Nath, Yezhou Yang +5
Text-to-image generation models have achieved remarkable capabilities in synthesizing images, but often struggle to provide fine-grained control over the output. Existing guidance…
cs.RO2025
CREStE: Scalable Mapless Navigation with Internet Scale Priors and Counterfactual Guidance
Arthur Zhang, Harshit Sikchi, Amy Zhang +1
We introduce CREStE, a scalable learning-based mapless navigation framework to address the open-world generalization and robustness challenges of outdoor urban navigation. Key to a…