85 citations · 173 across the 39 of their papers we have counts for
46 papers
ObVi-SLAM: Long-Term Object-Visual SLAM
Amanda Adkins, Taijing Chen, Joydeep Biswas
Robots responsible for tasks over long time scales must be able to localize consistently and scalably amid geometric, viewpoint, and appearance changes. Existing visual SLAM approa…
STERLING: Self-Supervised Terrain Representation Learning from Unconstrained Robot Experience
Haresh Karnan, Elvin Yang, Daniel Farkash +3
Terrain awareness, i.e., the ability to identify and distinguish different types of terrain, is a critical ability that robots must have to succeed at autonomous off-road navigatio…
Towards Robust Robot 3D Perception in Urban Environments: The UT Campus Object Dataset
Arthur Zhang, Chaitanya Eranki, Christina Zhang +8
We introduce the UT Campus Object Dataset (CODa), a mobile robot egocentric perception dataset collected on the University of Texas Austin Campus. Our dataset contains 8.5 hours of…
Wait, That Feels Familiar: Learning to Extrapolate Human Preferences for Preference Aligned Path Planning
Haresh Karnan, Elvin Yang, Garrett Warnell +2
Autonomous mobility tasks such as lastmile delivery require reasoning about operator indicated preferences over terrains on which the robot should navigate to ensure both robot saf…
Rethinking Social Robot Navigation: Leveraging the Best of Two Worlds
Amir Hossain Raj, Zichao Hu, Haresh Karnan +6
Empowering robots to navigate in a socially compliant manner is essential for the acceptance of robots moving in human-inhabited environments. Previously, roboticists have develope…
Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions
Rohan Chandra, Vrushabh Zinage, Efstathios Bakolas +2
We present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections…