4 papers
OctoSplat: Hybrid OctoMap-Gaussian Splatting for Active Semantic Mapping and Phenotyping with Horticultural Robots
Jose Cuaran, Naveen K. Uppalapati, Girish Chowdhary
Semantic reconstruction of agricultural scenes plays a vital role in tasks such as phenotyping and yield estimation. However, traditional approaches based on manual scanning or fix…
Visual-Language-Guided Task Planning for Horticultural Robots
Jose Cuaran, Kendall Koe, Aditya Potnis +2
Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Vision Language Model (VL…
Active Semantic Mapping with Mobile Manipulator in Horticultural Environments
Jose Cuaran, Kulbir Singh Ahluwalia, Kendall Koe +2
Semantic maps are fundamental for robotics tasks such as navigation and manipulation. They also enable yield prediction and phenotyping in agricultural settings. In this paper, we…
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
Arun N. Sivakumar, Pranay Thangeda, Yixiao Fang +4
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception,…