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End-to-End Vision-Language-Action Policies for Autonomous Lunar Rover Docking
Sitan Huang, Grace Gao
Surface navigation on the Moon is subject to extreme illumination contrast and deployment-time perceptual disturbances. While modular navigation pipelines have long supported plane…
Neural Radiance Maps for Extraterrestrial Navigation and Path Planning
Adam Dai, Shubh Gupta, Grace Gao
Autonomous vehicles such as the Mars rovers currently lead the vanguard of surface exploration on extraterrestrial planets and moons. In order to accelerate the pace of exploration…
Visual SLAM with DEM Anchoring for Lunar Surface Navigation
Adam Dai, Guillem Casadesus Vila, Grace Gao
Future lunar missions will require autonomous rovers capable of traversing tens of kilometers across challenging terrain while maintaining accurate localization and producing globa…
Neural Elevation Models for Terrain Mapping and Path Planning
Adam Dai, Shubh Gupta, Grace Gao
This work introduces Neural Elevations Models (NEMos), which adapt Neural Radiance Fields to a 2.5D continuous and differentiable terrain model. In contrast to traditional terrain…