4 papers
RAVEN: Resilient Aerial Navigation via Open-Set Semantic Memory and Behavior Adaptation
Seungchan Kim, Omar Alama, Dmytro Kurdydyk +5
Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated op…
TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation
Manthan Patel, Fan Yang, Yuheng Qiu +4
We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in va…
RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration
Omar Alama, Avigyan Bhattacharya, Haoyang He +6
Open-set semantic mapping is crucial for open-world robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settin…
LogiCity: Advancing Neuro-Symbolic AI with Abstract Urban Simulation
Bowen Li, Zhaoyu Li, Qiwei Du +10
Recent years have witnessed the rapid development of Neuro-Symbolic (NeSy) AI systems, which integrate symbolic reasoning into deep neural networks. However, most of the existing b…