5 papers
RoboFin3D: A Sim-to-Real Platform for Robotic Surface Finishing
Haowei Wen, Shangtao Li, Vaibhav Sanjay +3
Grinding and sanding are fundamental processes in industrial robotic surface finishing. However, physical trials are expensive and consume workpieces, making reproducible experimen…
Scalable Long-Horizon Planning with Staggered Updates for Lifelong MAPF
Vaibhav Sanjay, Jiaoyang Li
Lifelong Multi-Agent Path Finding (LMAPF) requires generating collision-free paths for large agent fleets under strict real-time constraints. Reactive frameworks such as PIBT and E…
Diffusion for Long-Horizon Multi-Robot Path Planning in Human-Shared Environments
Vaibhav Sanjay, Yorai Shaoul, Jiaoyang Li
Multi-robot path planning in human-shared environments requires a delicate balance between robust inter-robot coordination and socially aware behavior. While diffusion models excel…
Illusion3D: 3D Multiview Illusion with 2D Diffusion Priors
Yue Feng, Vaibhav Sanjay, Spencer Lutz +3
Automatically generating multiview illusions is a compelling challenge, where a single piece of visual content offers distinct interpretations from different viewing perspectives.…
Where Am I Now? Dynamically Finding Optimal Sensor States to Minimize Localization Uncertainty for a Perception-Denied Rover
Troi Williams, Po-Lun Chen, Sparsh Bhogavilli +2
We present DyFOS, an active perception method that dynamically finds optimal states to minimize localization uncertainty while avoiding obstacles and occlusions. We consider the sc…