5 papers
The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Mihir Dharmadhikari, Nikhil Khedekar, Mihir Kulkarni +7
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architectu…
Relationship-Aware Hierarchical 3D Scene Graph for Task Reasoning
Albert Gassol Puigjaner, Angelos Zacharia, Kostas Alexis
Representing and understanding 3D environments in a structured manner is crucial for autonomous agents to navigate and reason about their surroundings. While traditional Simultaneo…
Performance-driven Constrained Optimal Auto-Tuner for MPC
Albert Gassol Puigjaner, Manish Prajapat, Andrea Carron +2
A key challenge in tuning Model Predictive Control (MPC) cost function parameters is to ensure that the system performance stays consistently above a certain threshold. To address…
Augmented Reality without Borders: Achieving Precise Localization Without Maps
Albert Gassol Puigjaner, Irvin Aloise, Patrik Schmuck
Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accura…
VF-NeRF: Learning Neural Vector Fields for Indoor Scene Reconstruction
Albert Gassol Puigjaner, Edoardo Mello Rella, Erik Sandström +2
Implicit surfaces via neural radiance fields (NeRF) have shown surprising accuracy in surface reconstruction. Despite their success in reconstructing richly textured surfaces, exis…