3 papers
cs.RO2025
PRISM-Loc: a Lightweight Long-range LiDAR Localization in Urban Environments with Topological Maps
Kirill Muravyev, Artem Kobozev, Vasily Yuryev +4
We propose PRISM-Loc - a lightweight and robust approach for localization in large outdoor environments that combines a compact topological representation with a novel scan-matchin…
cs.RO2025
Mind and Motion Aligned: A Joint Evaluation IsaacSim Benchmark for Task Planning and Low-Level Policies in Mobile Manipulation
Nikita Kachaev, Andrei Spiridonov, Andrey Gorodetsky +8
Benchmarks are crucial for evaluating progress in robotics and embodied AI. However, a significant gap exists between benchmarks designed for high-level language instruction follow…
cs.RO2025
PRISM-TopoMap: Online Topological Mapping with Place Recognition and Scan Matching
Kirill Muravyev, Alexander Melekhin, Dmitry Yudin +1
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy gr…