6 papers · 1 filter
DORA: Divergence-Oriented Data-Relay Algorithm for Partially Connected Robot Teams
Jonathan Diller, Fernando Cladera, Camillo Jose Taylor +1
Teams of unmanned aerial vehicles (UAVs) deployed for search and monitoring missions frequently operate as partially connected networks, forcing each robot to trade off exploring t…
Actively Resolving Contextual Uncertainty for Underspecified Tasks in Natural Language
Zachary Ravichandran, Jonathan Diller, Fernando Cladera +3
Foundation models provide robots with the ability to interpret natural language and reason about environmental context, yet most language-conditioned policies assume that goals are…
Visual Navigation Transformer with Pose Attention
Beiming Li, Jaime Romero, Jonathan Diller +2
Learned navigation policies typically consume observations as a temporally ordered history, with positional encodings tying each observation to when it was seen, making it difficul…
Spatial-Semantic Uncertainty in VLM-Based Target Search: Balancing Exploration and Identification
Alkesh K. Srivastava, Jonathan Diller, Vijay Kumar +1
Robots searching for a target from a natural-language description must determine not only where to search, but also which observed candidate is the desired target. These decisions…
EFLUX: Elastic Multi-Robot Formation Navigation and Adaptation with Agentic LLMs
Jinyuan Zhang, Yuwei Wu, Guangyao Shi +3
Multi-robot teams operating in confined or cluttered environments must adapt both their formation geometry and group topology to navigate through complex obstacles. This adaptation…
REBAR: Reference Ethical Benchmark for Autonomy Readiness
Jonathan Diller, David Barnes, Rebekah Bogdanoff +14
As autonomous systems grow more advanced, objective metrics to evaluate their ethical and legal compliance are critical for informing end users of their limitations and ensuring ac…