20 citations · 31 across the 9 of their papers we have counts for
3 papers · 1 filter
VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
Sangmin Song, Sarath Kodagoda, Marc G. Carmichael +4
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular…
Overcoming Visual Clutter in Vision Language Action Models via Concept-Gated Visual Distillation
Sangmim Song, Sarath Kodagoda, Marc Carmichael +1
Vision-Language-Action (VLA) models demonstrate impressive zero-shot generalization but frequently suffer from a "Precision-Reasoning Gap" in cluttered environments. This failure i…
Understanding Human Context in 3D Scenes by Learning Spatial Affordances with Virtual Skeleton Models
Lasitha Piyathilaka, Sarath Kodagoda
Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when human…