4 papers
DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Space
Jiwon Park, Dongkyu Lee, I Made Aswin Nahrendra +2
Local navigation in cluttered environments often suffers from dense obstacles and frequent local minima. Conventional local planners rely on heuristics and are prone to failure, wh…
OpenHEART: Opening Heterogeneous Articulated Objects with a Legged Manipulator
Seonghyeon Lim, Hyeonwoo Lee, Seunghyun Lee +2
Legged manipulators offer high mobility and versatile manipulation. However, robust interaction with heterogeneous articulated objects, such as doors, drawers, and cabinets, remain…
LocoVLM: Grounding Vision and Language for Adapting Versatile Legged Locomotion Policies
I Made Aswin Nahrendra, Seunghyun Lee, Dongkyu Lee +1
Recent advances in legged locomotion learning are still dominated by the utilization of geometric representations of the environment, limiting the robot's capability to respond to…
Chamelion: Reliable Change Detection for Long-Term LiDAR Mapping in Transient Environments
Seoyeon Jang, Alex Junho Lee, I Made Aswin Nahrendra +1
Online change detection is crucial for mobile robots to efficiently navigate through dynamic environments. Detecting changes in transient settings, such as active construction site…