10 papers
BEVCALIB: LiDAR-Camera Calibration via Geometry-Guided Bird's-Eye View Representations
Weiduo Yuan, Jerry Li, Justin Yue +3
Accurate LiDAR-camera calibration is fundamental to fusing multi-modal perception in autonomous driving and robotic systems. Traditional calibration methods require extensive data…
Reducing Oracle Feedback with Vision-Language Embeddings for Preference-Based RL
Udita Ghosh, Dripta S. Raychaudhuri, Jiachen Li +2
Preference-based reinforcement learning can learn effective reward functions from comparisons, but its scalability is constrained by the high cost of oracle feedback. Lightweight v…
Visual Alignment of Medical Vision-Language Models for Grounded Radiology Report Generation
Sarosij Bose, Ravi K. Rajendran, Biplob Debnath +3
Radiology Report Generation (RRG) is a critical step toward automating healthcare workflows, facilitating accurate patient assessments, and reducing the workload of medical profess…
Uncertainty-Aware Diffusion Guided Refinement of 3D Scenes
Sarosij Bose, Arindam Dutta, Sayak Nag +4
Reconstructing 3D scenes from a single image is a fundamentally ill-posed task due to the severely under-constrained nature of the problem. Consequently, when the scene is rendered…
GS-NBV: a Geometry-based, Semantics-aware Viewpoint Planning Algorithm for Avocado Harvesting under Occlusions
Xiao'ao Song, Konstantinos Karydis
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structure…
Robust Offline Imitation Learning from Diverse Auxiliary Data
Udita Ghosh, Dripta S. Raychaudhuri, Jiachen Li +2
Offline imitation learning enables learning a policy solely from a set of expert demonstrations, without any environment interaction. To alleviate the issue of distribution shift a…