47 citations · 255 across the 195 of their papers we have counts for
35 papers · 2 filters
EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation
Iana Zhura, Sausar Karaf, Faryal Batool +7
Visual traversability estimation is central to autonomous navigation, yet most approaches either rely on prompt-driven Vision-Language Model (VLM) or decouple traversability from t…
SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
Yara Mahmoud, Jeffrin Sam, Nguyen Khang +6
Safe and trustworthy Human Robot Interaction (HRI) requires robots not only to complete tasks but also to regulate impedance and speed according to scene context and human proximit…
YawSitter: Modeling and Controlling a Tail-Sitter UAV with Enhanced Yaw Control
Amir Habel, Fawad Mehboob, Jeffrin Sam +2
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex a…
Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
S. Satsevich, A. Bazhenov, S. Egorov +4
This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic…
AnywhereVLA: Language-Conditioned Exploration and Mobile Manipulation
Konstantin Gubernatorov, Artem Voronov, Roman Voronov +4
We address natural language pick-and-place in unseen, unpredictable indoor environments with AnywhereVLA, a modular framework for mobile manipulation. A user text prompt serves as…
FlightDiffusion: Revolutionising Autonomous Drone Training with Diffusion Models Generating FPV Video
Valerii Serpiva, Artem Lykov, Faryal Batool +3
We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from…
GestOS: Advanced Hand Gesture Interpretation via Large Language Models to control Any Type of Robot
Artem Lykov, Oleg Kobzarev, Dzmitry Tsetserukou
We present GestOS, a gesture-based operating system for high-level control of heterogeneous robot teams. Unlike prior systems that map gestures to fixed commands or single-agent ac…
PhysicalAgent: Towards General Cognitive Robotics with Foundation World Models
Artem Lykov, Jeffrin Sam, Hung Khang Nguyen +6
We introduce PhysicalAgent, an agentic framework for robotic manipulation that integrates iterative reasoning, diffusion-based video generation, and closed-loop execution. Given a…
SwarmVLM: VLM-Guided Impedance Control for Autonomous Navigation of Heterogeneous Robots in Dynamic Warehousing
Malaika Zafar, Roohan Ahmed Khan, Faryal Batool +5
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability t…
VLH: Vision-Language-Haptics Foundation Model
Luis Francisco Moreno Fuentes, Muhammad Haris Khan, Miguel Altamirano Cabrera +5
We present VLH, a novel Visual-Language-Haptic Foundation Model that unifies perception, language, and tactile feedback in aerial robotics and virtual reality. Unlike prior work th…
FiDTouch: A 3D Wearable Haptic Display for the Finger Pad
Daria Trinitatova, Dzmitry Tsetserukou
The applications of fingertip haptic devices have spread to various fields from revolutionizing virtual reality and medical training simulations to facilitating remote robotic oper…
UAV-CodeAgents: Scalable UAV Mission Planning via Multi-Agent ReAct and Vision-Language Reasoning
Oleg Sautenkov, Yasheerah Yaqoot, Muhammad Ahsan Mustafa +5
We present UAV-CodeAgents, a scalable multi-agent framework for autonomous UAV mission generation, built on large language and vision-language models (LLMs/VLMs). The system levera…
Quadrupedal Robot Skateboard Mounting via Reverse Curriculum Learning
Danil Belov, Artem Erkhov, Elizaveta Pestova +3
The aim of this work is to enable quadrupedal robots to mount skateboards using Reverse Curriculum Reinforcement Learning. Although prior work has demonstrated skateboarding for qu…
NMPC-Lander: Nonlinear MPC with Barrier Function for UAV Landing on a Mobile Platform
Amber Batool, Faryal Batool, Roohan Ahmed Khan +3
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and re…
HapticVLM: VLM-Driven Texture Recognition Aimed at Intelligent Haptic Interaction
Muhammad Haris Khan, Miguel Altamirano Cabrera, Dmitrii Iarchuk +4
This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM…
DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets
Maria Makarova, Qian Liu, Dzmitry Tsetserukou
Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous ma…
MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin
Sausar Karaf, Mikhail Martynov, Oleg Sautenkov +2
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse…
Towards Intuitive Drone Operation Using a Handheld Motion Controller
Daria Trinitatova, Sofia Shevelo, Dzmitry Tsetserukou
We present an intuitive human-drone interaction system that utilizes a gesture-based motion controller to enhance the drone operation experience in real and simulated environments.…
Echo: An Open-Source, Low-Cost Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
Artem Bazhenov, Sergei Satsevich, Sergei Egorov +2
In this article, we propose Echo, a novel joint-matching teleoperation system designed to enhance the collection of datasets for manual and bimanual tasks. Our system is specifical…
RaceVLA: VLA-based Racing Drone Navigation with Human-like Behaviour
Valerii Serpiva, Artem Lykov, Artyom Myshlyaev +4
RaceVLA presents an innovative approach for autonomous racing drone navigation by leveraging Visual-Language-Action (VLA) to emulate human-like behavior. This research explores the…
CognitiveDrone: A VLA Model and Evaluation Benchmark for Real-Time Cognitive Task Solving and Reasoning in UAVs
Artem Lykov, Valerii Serpiva, Muhammad Haris Khan +5
This paper introduces CognitiveDrone, a novel Vision-Language-Action (VLA) model tailored for complex Unmanned Aerial Vehicles (UAVs) tasks that demand advanced cognitive abilities…
CONTHER: Context-Aware Reinforcement Learning for Robotic Manipulation with Sparse Rewards
Maria Makarova, Qian Liu, Dzmitry Tsetserukou
This paper investigates whether sequential context improves goal-conditioned Reinforcement Learning in sparse-reward manipulation tasks. While Hindsight Experience Replay (HER) add…
ImpedanceGPT: VLM-driven Impedance Control of Swarm of Mini-drones for Intelligent Navigation in Dynamic Environment
Faryal Batool, Yasheerah Yaqoot, Malaika Zafar +4
Swarm robotics plays a crucial role in enabling autonomous operations in dynamic and unpredictable environments. However, a major challenge remains ensuring safe and efficient navi…
UAV-VLRR: Vision-Language Informed NMPC for Rapid Response in UAV Search and Rescue
Yasheerah Yaqoot, Muhammad Ahsan Mustafa, Oleg Sautenkov +3
Emergency search and rescue (SAR) operations often require rapid and precise target identification in complex environments where traditional manual drone control is inefficient. In…