7 papers
Framework for an AI-Ready ARPES Community Database
Zhi-Xun Shen, Jin Gene Wong, Karen Lei +41
Condensed matter stands to gain profoundly from widespread adoption of artificial intelligence (AI). However, its current means of data organization impedes this endeavor. As a pre…
BAT-Nav: Belief-Based Arbitration and Termination via Remaining Discoverability in Multi-Goal Semantic Navigation
Xi Lin, Kangyi Wu, Jiayi Li +3
Multi-goal semantic navigation couples searches through a shrinking horizon: effort spent on one request can make another effectively undiscoverable. Discoverability therefore depe…
Dual-Anchoring: Addressing State Drift in Vision-Language Navigation
Kangyi Wu, Pengna Li, Kailin Lyu +5
Vision-Language Navigation(VLN) requires an agent to navigate through 3D environments by following natural language instructions. While recent Video Large Language Models(Video-LLM…
DRACo-SLAM2: Distributed Robust Acoustic Communication-efficient SLAM for Imaging Sonar EquippedUnderwater Robot Teams with Object Graph Matching
Yewei Huang, John McConnell, Xi Lin +1
We present DRACo-SLAM2, a distributed SLAM framework for underwater robot teams equipped with multibeam imaging sonar. This framework improves upon the original DRACo-SLAM by intro…
Distributional Reinforcement Learning based Integrated Decision Making and Control for Autonomous Surface Vehicles
Xi Lin, Paul Szenher, Yewei Huang +1
With the growing demands for Autonomous Surface Vehicles (ASVs) in recent years, the number of ASVs being deployed for various maritime missions is expected to increase rapidly in…
Multi-Robot Autonomous Exploration and Mapping Under Localization Uncertainty with Expectation-Maximization
Yewei Huang, Xi Lin, Brendan Englot
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile rob…
Decentralized Multi-Robot Navigation for Autonomous Surface Vehicles with Distributional Reinforcement Learning
Xi Lin, Yewei Huang, Fanfei Chen +1
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have bee…