4 papers
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
Dominic Maggio, Nicolas Gorlo, Kris Hauser +1
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We…
Remember with Confidence: Uncertainty Quantification for Spatio-temporal Memory with Probabilistic Guarantees
Harry Zhang, Nicolas Gorlo, Luca Carlone
Long-horizon robot operation requires spatio-temporal memory to record the environment state and recall it for downstream reasoning. Scene graphs and retrieval-augmented systems gr…
Worth Remembering: Surprise-Gated Robot Episodic Memory
Nicolas Gorlo, Derek K. Wise, Alberto Speranzon +1
Robots solving generalist tasks need to be able to ground instructions in their past experience, since humans may refer to notable past events when giving a task (e.g., ``Take me t…
Describe Anything Anywhere At Any Moment
Nicolas Gorlo, Lukas Schmid, Luca Carlone
Computer vision and robotics applications ranging from augmented reality to robot autonomy in large-scale environments require spatio-temporal memory frameworks that capture both g…