5 papers
CognitiveReality: Robot-Agnostic Semantic Gaussian Mapping with an LLM Agent for Immersive Collaborative VR Teleoperation
Timofei Kozlov, Dmitrii Maliukov, Andrey Marchenko +3
A photorealistic 3D view tells a teleoperator where a robot is, but not what the scene contains, how well each object has been observed, or how to turn pointing and speech into rob…
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…
GaussAnything: Semantic Intent-Driven Refinement of Evolving Gaussian Scenes for Standalone VR
Dmitrii Maliukov, Timofei Kozlov, Dmitrii Plotnikov +2
Deploying reconstructed 3D environments on standalone VR headsets are constrained by limited compute and memory, and conventional level-of-detail policies optimize for visibility w…
VersualRL: Closed-Loop Verbal Reinforcement Learning with Visual Execution Feedback for Task-Level Robot Planning
Dmitrii Plotnikov, Iaroslav Kolomiets, Dmitrii Maliukov +9
We introduce VersualRL, a closed-loop framework for task-level robot planning that uses visual execution feedback to iteratively refine executable Behavior Trees through structured…