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Radio frequency (RF)-based indoor localization offers significant promise for applications such as indoor navigation, augmented reality, and pervasive computing. While deep learning has greatly enhanced localization accuracy and robustness,…

Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are limited by the lack of grounding in the surrounding scene. In this…

Text-driven localized editing of 3D objects is particularly difficult as locally mixing the original 3D object with the intended new object and style effects without distorting the object's form is not a straightforward process. To address…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

The "CNN-RNN" design pattern is increasingly widely applied in a variety of image annotation tasks including multi-label classification and captioning. Existing models use the weakly semantic CNN hidden layer or its transform as the image…

Due to the omnipresence of Neural Radiance Fields (NeRFs), the interest towards editable implicit 3D representations has surged over the last years. However, editing implicit or hybrid representations as used for NeRFs is difficult due to…

Neural Radiance Fields (NeRFs) provide a high fidelity, continuous scene representation that can realistically represent complex behaviour of light. Despite works like Ref-NeRF improving geometry through physics-inspired models, the ability…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Accurate perception of objects in the environment is important for improving the scene understanding capability of SLAM systems. In robotic and augmented reality applications, object maps with semantic and metric information show attractive…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Convolutional neural networks (CNN) have been successfully employed to tackle several remote sensing tasks such as image classification and show better performance than previous techniques. For the radar imaging community, a natural…

We present a novel approach for synthesizing realistic novel views using Neural Radiance Fields (NeRF) with uncontrolled photos in the wild. While NeRF has shown impressive results in controlled settings, it struggles with transient objects…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…

Purely MLP-based neural radiance fields (NeRF-based methods) often suffer from underfitting with blurred renderings on large-scale scenes due to limited model capacity. Recent approaches propose to geographically divide the scene and adopt…