5 papers
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…
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…
Learn 2 Rage: Experiencing The Emotional Roller Coaster That Is Reinforcement Learning
Lachlan Mares, Stefan Podgorski, Ian Reid
This work presents the experiments and solution outline for our teams winning submission in the Learn To Race Autonomous Racing Virtual Challenge 2022 hosted by AIcrowd. The object…
PoIFusion: Multi-Modal 3D Object Detection via Fusion at Points of Interest
Jiajun Deng, Sha Zhang, Feras Dayoub +3
In this work, we present PoIFusion, a conceptually simple yet effective multi-modal 3D object detection framework to fuse the information of RGB images and LiDAR point clouds at th…
RoboHop: Segment-based Topological Map Representation for Open-World Visual Navigation
Sourav Garg, Krishan Rana, Mehdi Hosseinzadeh +4
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topolog…