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Multi-robot SLAM aims at localizing and building a map with multiple robots, interacting with each other. In the work described in this article, we analyze the pipeline of a decentralized LiDAR SLAM system to study the current limitations…
For autonomous vehicles, safe navigation in complex environments depends on handling a broad range of diverse and rare driving scenarios. Simulation- and scenario-based testing have emerged as key approaches to development and validation of…
Long-term monitoring and exploration of extreme environments, such as underwater storage facilities, is costly, labor-intensive, and hazardous. Automating this process with low-cost, collaborative robots can greatly improve efficiency.…
To ensure the efficiency of robot autonomy under diverse real-world conditions, a high-quality heterogeneous dataset is essential to benchmark the operating algorithms' performance and robustness. Current benchmarks predominantly focus on…
Distributed LiDAR SLAM is crucial for achieving efficient robot autonomy and improving the scalability of mapping. However, two issues need to be considered when applying it in field environments: one is resource limitation, and the other…
World models are central to building agents that can reason, plan, and generalize beyond their training data. However, research on world models is currently fragmented, with disparate codebases, data pipelines, and evaluation protocols…
For agentic systems to use external tools to solve complex, long-horizon tasks, we need a large set of diverse and controllable tool-use environments. We introduce SynthTools, a fully LLM-based pipeline spanning the entire lifecycle:…
We contribute a dense SLAM system that takes a live stream of depth images as input and reconstructs non-rigid deforming scenes in real time, without templates or prior models. In contrast to existing approaches, we do not maintain any…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
Reconstructing physically valid 3D scenes from single-view observations is a prerequisite for bridging the gap between visual perception and robotic control. However, in scenarios requiring precise contact reasoning, such as robotic…
Scientific data has been growing in both size and complexity across the modern physical, engineering, life and social sciences. Spatial structure, for example, is a hallmark of many of the most important real-world complex systems, but its…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
There are many benefits for exploring and exploiting underground mines, but there are also significant risks and challenges. One such risk is the potential for accidents caused by the collapse of the pillars, and roofs which can be…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
Navigation in complex 3D scenarios requires appropriate environment representation for efficient scene understanding and trajectory generation. We propose a highly efficient and extensible global navigation framework based on a tomographic…
Autonomous underwater vehicles (AUVs) are becoming standard tools for underwater exploration and seabed mapping in both scientific and industrial applications \cite{graham2022rapid, stenius2022system}. Their capacity to dive untethered…
In computer vision, the development of robust algorithms capable of generalizing effectively in real-world scenarios more and more often requires large-scale datasets collected under diverse environmental conditions. However, acquiring such…
Procedural generation techniques in 3D rendering engines have revolutionized the creation of complex environments, reducing reliance on manual design. Recent approaches using Large Language Models (LLMs) for 3D scene generation show promise…
Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…
Field robotics applications, such as search and rescue, involve robots operating in large, unknown areas. These environments present unique challenges that compound the difficulties faced by a robot operator. The use of multi-robot teams,…