134 citations · 725 across the 66 of their papers we have counts for
72 papers
Who Went Where When on the Lunar Surface: Forensic Trajectory Analysis to Identify Byzantine Rovers
Lachlan Holden, Feras Dayoub, Melissa de Zwart +2
Future planetary surface missions are likely to involve multiple independently operated rovers sharing the same deployment region, raising the need to verify compliance with operat…
ProTracer: Proprioception-Guided Failure Diagnosis in Robot Manipulation
Chang Dong, Mehdi Hosseinzadeh, King Hang Wong +5
This paper presents a comprehensive framework for robot manipulation failure analysis that includes binary failure detection, failure categorization, explanation generation, and th…
4D-WAM: Infusing Spatiotemporal Awareness into World Action Models through Trajectory Fields
Lishan Yang, Wenxuan Song, Xi Wang +14
Building on recent advances in world models, World Action Models (WAMs) jointly model video prediction and action generation. However, they typically represent videos in 2D pixel s…
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
King Hang Wong, Lingqiao Liu, Feras Dayoub
Contact-rich manipulation requires policies to infer interaction state from signals that are often weakly observable through vision and kinematics alone. Action Chunking with Trans…
Detecting Precise Hand Touch Moments in Egocentric Video
Huy Anh Nguyen, Feras Dayoub, Minh Hoai
We address the challenging task of detecting the precise moment when hands make contact with objects in egocentric videos. This frame-level detection is crucial for augmented reali…
A Physical Agentic Loop for Language-Guided Grasping with Execution-State Monitoring
Wenze Wang, Mehdi Hosseinzadeh, Feras Dayoub
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, an…
KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis
Mehdi Hosseinzadeh, King Hang Wong, Feras Dayoub
We present KITE, a training-free, keyframe-anchored, layout-grounded front-end that converts long robot-execution videos into compact, interpretable tokenized evidence for vision-l…
Predictive and adaptive maps for long-term visual navigation in changing environments
Lucie Halodova, Eliska Dvorakova, Filip Majer +4
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuousl…
LangMap: A Human-Verified Benchmark for Hierarchical Open-Vocabulary Goal Navigation
Bo Miao, Weijia Liu, Jun Luo +8
Language-conditioned goal navigation (LGN) requires embodied agents to locate user-specified targets without step-by-step guidance. However, existing benchmarks largely focus on ca…
Vision Foundation Models for Domain Generalisable Cross-View Localisation in Planetary Ground-Aerial Robotic Teams
Lachlan Holden, Feras Dayoub, Alberto Candela +2
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helic…
AIMC-Spec: A Benchmark Dataset for Automatic Intrapulse Modulation Classification under Variable Noise Conditions
Sebastian L. Cocks, Salvador Dreo, Brian Ng +1
A lack of standardized datasets has long hindered progress in automatic intrapulse modulation classification (AIMC), a critical task in radar signal analysis for electronic support…
SceneEdited: A City-Scale Benchmark for 3D HD Map Updating via Image-Guided Change Detection
Chun-Jung Lin, Tat-Jun Chin, Sourav Garg +1
Accurate, up-to-date High-Definition (HD) maps are critical for urban planning, infrastructure monitoring, and autonomous navigation. However, these maps quickly become outdated as…
ObjectReact: Learning Object-Relative Control for Visual Navigation
Sourav Garg, Dustin Craggs, Vineeth Bhat +5
Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typi…
TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goals
Stefan Podgorski, Sourav Garg, Mehdi Hosseinzadeh +3
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across…
Embodied Domain Adaptation for Object Detection
Xiangyu Shi, Yanyuan Qiao, Lingqiao Liu +1
Mobile robots rely on object detectors for perception and object localization in indoor environments. However, standard closed-set methods struggle to handle the diverse objects an…
SmartWay: Enhanced Waypoint Prediction and Backtracking for Zero-Shot Vision-and-Language Navigation
Xiangyu Shi, Zerui Li, Wenqi Lyu +4
Vision-and-Language Navigation (VLN) in continuous environments requires agents to interpret natural language instructions while navigating unconstrained 3D spaces. Existing VLN-CE…
QueryAdapter: Rapid Adaptation of Vision-Language Models in Response to Natural Language Queries
Nicolas Harvey Chapman, Feras Dayoub, Will Browne +1
A domain shift exists between the large-scale, internet data used to train a Vision-Language Model (VLM) and the raw image streams collected by a robot. Existing adaptation strateg…
3D-LLaVA: Towards Generalist 3D LMMs with Omni Superpoint Transformer
Jiajun Deng, Tianyu He, Li Jiang +3
Current 3D Large Multimodal Models (3D LMMs) have shown tremendous potential in 3D-vision-based dialogue and reasoning. However, how to further enhance 3D LMMs to achieve fine-grai…
To Ask or Not to Ask? Detecting Absence of Information in Vision and Language Navigation
Savitha Sam Abraham, Sourav Garg, Feras Dayoub
Recent research in Vision Language Navigation (VLN) has overlooked the development of agents' inquisitive abilities, which allow them to ask clarifying questions when instructions…
Effective Tuning Strategies for Generalist Robot Manipulation Policies
Wenbo Zhang, Yang Li, Yanyuan Qiao +5
Generalist robot manipulation policies (GMPs) have the potential to generalize across a wide range of tasks, devices, and environments. However, existing policies continue to strug…
AARK: An Open Toolkit for Autonomous Racing Research
James Bockman, Matthew Howe, Adrian Orenstein +1
Autonomous racing demands safe control of vehicles at their physical limits for extended periods of time, providing insights into advanced vehicle safety systems which increasingly…
Robust Scene Change Detection Using Visual Foundation Models and Cross-Attention Mechanisms
Chun-Jung Lin, Sourav Garg, Tat-Jun Chin +1
We present a novel method for scene change detection that leverages the robust feature extraction capabilities of a visual foundational model, DINOv2, and integrates full-image cro…
Temporal Attention for Cross-View Sequential Image Localization
Dong Yuan, Frederic Maire, Feras Dayoub
This paper introduces a novel approach to enhancing cross-view localization, focusing on the fine-grained, sequential localization of street-view images within a single known satel…
Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics
Jad Abou-Chakra, Krishan Rana, Feras Dayoub +1
For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual obs…