8 papers
Zero-Shot Adaptation to Robot Structural Damage via Natural Language-Informed Kinodynamics Modeling
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +2
High-performance autonomous mobile robots endure significant mechanical stress during in-the-wild operations, e.g., driving at high speeds or over rugged terrain. Although these pl…
Narrate2Nav: Real-Time Visual Navigation with Implicit Language Reasoning in Human-Centric Environments
Amirreza Payandeh, Anuj Pokhrel, Daeun Song +2
Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intention…
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Madhan B. Rao +4
Recent advancement in off-road autonomy has shown promises in deploying autonomous mobile robots in outdoor off-road environments. Encouraging results have been reported from both…
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions
Aniket Datar, Anuj Pokhrel, Mohammad Nazeri +8
Long-duration, off-road, autonomous missions require robots to continuously perceive their surroundings regardless of the ambient lighting conditions. Most existing autonomy system…
Dom, cars don't fly! -- Or do they? In-Air Vehicle Maneuver for High-Speed Off-Road Navigation
Anuj Pokhrel, Aniket Datar, Xuesu Xiao
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks…
CAHSOR: Competence-Aware High-Speed Off-Road Ground Navigation in SE(3)
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +1
While the workspace of traditional ground vehicles is usually assumed to be in a 2D plane, i.e., SE(2), such an assumption may not hold when they drive at high speeds on unstructur…