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cs.RO2026
TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks
Daniel Fusaro, Simone Mosco, Wanmeng Li +1
Traversability analysis is a fundamental capability for autonomous mobile robots operating in unstructured environments. While modern machine learning approaches such as deep neura…
cs.RO2026
TACO: A Test and Check Framework for Robust Pose Graph Optimization
Emilio Olivastri, Alberto Pretto, Tobias Fischer
Pose Graph Optimization (PGO) is one of the most widely adopted approaches for solving Simultaneous Localization and Mapping (SLAM) problems. However, PGO approaches are particular…
cs.RO2024
Multi-Modal 3D Scene Graph Updater for Shared and Dynamic Environments
Emilio Olivastri, Jonathan Francis, Alberto Pretto +2
The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to groun…