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cs.RO2025
ASHiTA: Automatic Scene-grounded HIerarchical Task Analysis
Yun Chang, Leonor Fermoselle, Duy Ta +3
While recent work in scene reconstruction and understanding has made strides in grounding natural language to physical 3D environments, it is still challenging to ground abstract,…
cs.RO2024
Zero-shot Object-Centric Instruction Following: Integrating Foundation Models with Traditional Navigation
Sonia Raychaudhuri, Duy Ta, Katrina Ashton +3
Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique co…