3 papers
cs.RO2025
Asset-Centric Metric-Semantic Maps of Indoor Environments
Christopher D. Hsu, Pratik Chaudhari
Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such a…
cs.MA2024
Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments
Christopher D. Hsu, Pratik Chaudhari
We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We sho…
cs.RO2023
Active Perception using Neural Radiance Fields
Siming He, Christopher D. Hsu, Dexter Ong +2
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses…