5 papers
Search-TTA: A Multimodal Test-Time Adaptation Framework for Visual Search in the Wild
Derek Ming Siang Tan, Shailesh, Boyang Liu +8
To perform outdoor visual navigation and search, a robot may leverage satellite imagery to generate visual priors. This can help inform high-level search strategies, even when such…
Generalization in VAE and Diffusion Models: A Unified Information-Theoretic Analysis
Qi Chen, Jierui Zhu, Florian Shkurti
Despite the empirical success of Diffusion Models (DMs) and Variational Autoencoders (VAEs), their generalization performance remains theoretically underexplored, especially lackin…
RaSCL: Radar to Satellite Crossview Localization
Blerim Abdullai, Tony Wang, Xinyuan Qiao +2
GNSS is unreliable, inaccurate, and insufficient in many real-time autonomous field applications. In this work, we present a GNSS-free global localization solution that contains a…
Synthetica: Large Scale Synthetic Data for Robot Perception
Ritvik Singh, Jingzhou Liu, Karl Van Wyk +5
Vision-based object detectors are a crucial basis for robotics applications as they provide valuable information about object localisation in the environment. These need to ensure…
Exploring and Addressing Reward Confusion in Offline Preference Learning
Xin Chen, Sam Toyer, Florian Shkurti
Spurious correlations in a reward model's training data can prevent Reinforcement Learning from Human Feedback (RLHF) from identifying the desired goal and induce unwanted behavior…