6 papers
ReForesight: Occlusion-Robust Re-Identification and Future Occupancy Forecasting for Dynamic Semantic Mapping
Didar Seyidov, Faith Ogunwoye, Hajira Amjad +3
Robots sharing walkways need to know where people will be, yet semantic occupancy maps show only where they are. We present ReForesight, an open-source ROS 2 toolkit that adds inst…
AcousticDiffusion: Semantically Conditioned Audio-Guided Diffusion Policy for Search-and-Rescue Assistance
Iana Zhura, Didar Seyidov, Dmitrii Plotnikov +3
Navigating toward human callers is an important capability for rescue robots operating where visual contact is degraded or occluded. We present AcousticDiffusion, a semantically co…
SmellDiffusion: Diffusion-Based Quadruped Navigation with Olfactory Scene Graphs
Faith Ogunwoye, Iana Zhura, Hajira Amjad +5
A robot sent to a named gas leak must preserve gas identity, estimate the source, and navigate to the resulting goal. We present SmellDiffusion, a simulation pipeline that represen…
Guided Diffusion with Distilled Vision-Language Reliability for Aerial Navigation
Ivan Valuev, Iana Zhura, Valerii Serpiva +2
Autonomous UAV navigation is conventionally solved by pipelines that separate perception, mapping, and planning into distinct stages, which propagates errors, accumulates latency,…
DiffusionAnything: End-to-End In-context Diffusion Learning for Unified Navigation and Pre-Grasp Motion
Iana Zhura, Yara Mahmoud, Jeffrin Sam +4
Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specifi…
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…