5 papers
LoCal-RIO: Radar-Inertial Odometry with Loop-Closure IMU Bias Calibration
Ali Alridha Abdulkarim, Mikhail Litvinov, Dzmitry Tsetserukou +1
Millimeter-wave radar enables robust perception in visually degraded environments, yet radar-inertial estimation remains prone to drift: body-frame velocity measurements do not con…
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Iana Zhura, Sausar Karaf, Faryal Batool +7
Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on prompt-driven Vision-Language Model (VLM) or decouple traversability from t…
RaceVLA: VLA-based Racing Drone Navigation with Human-like Behaviour
Valerii Serpiva, Artem Lykov, Artyom Myshlyaev +4
RaceVLA presents an innovative approach for autonomous racing drone navigation by leveraging Visual-Language-Action (VLA) to emulate human-like behavior. This research explores the…
OmniRace: 6D Hand Pose Estimation for Intuitive Guidance of Racing Drone
Valerii Serpiva, Aleksey Fedoseev, Sausar Karaf +2
This paper presents the OmniRace approach to controlling a racing drone with 6-degree of freedom (DoF) hand pose estimation and gesture recognition. To our knowledge, it is the fir…
CognitiveDog: Large Multimodal Model Based System to Translate Vision and Language into Action of Quadruped Robot
Artem Lykov, Mikhail Litvinov, Mikhail Konenkov +6
This paper introduces CognitiveDog, a pioneering development of quadruped robot with Large Multi-modal Model (LMM) that is capable of not only communicating with humans verbally bu…