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We introduce GeoBuildBench, a benchmark designed to evaluate whether large language models and multimodal agents can ground informal natural-language plane geometry problems into executable geometric constructions. Unlike existing geometry…
Unexposed environments, such as lava tubes, mines, and tunnels, are among the most complex yet strategically significant domains for scientific exploration and infrastructure development. Accurate and real-time 3D meshing of these…
Vessels are complex structures in the body that have been studied extensively in multiple representations. While voxelization is the most common of them, meshes and parametric models are critical in various applications due to their…
This work presents a mapless global navigation approach for outdoor applications. It combines the exploratory capacity of conditional variational autoencoders (CVAEs) to generate trajectories and the semantic segmentation capabilities of a…
Approximate convex decomposition aims to decompose a 3D shape into a set of almost convex components, whose convex hulls can then be used to represent the input shape. It thus enables efficient geometry processing algorithms specifically…
As an attempt towards assessing the robustness of embodied navigation agents, we propose RobustNav, a framework to quantify the performance of embodied navigation agents when exposed to a wide variety of visual - affecting RGB inputs - and…
Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can…
Video-guided 3D animation holds immense potential for content creation, offering intuitive and precise control over dynamic assets. However, practical deployment faces a critical yet frequently overlooked hurdle: the pose misalignment…
In cognitive science and AI, a longstanding question is whether machines learn representations that align with those of the human mind. While current models show promise, it remains an open question whether this alignment is superficial or…
We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…
Reliable navigation systems are not available indoors, such as in campuses and small areas. Users must depend on confusing, time-consuming static signage or floor maps. In this paper, an AR-based technique has been applied to campus and…
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…
Polygon meshes are an efficient representation of 3D geometry, and are of central importance in computer graphics, robotics and games development. Existing learning-based approaches have avoided the challenges of working with 3D meshes,…
This work presents a density-based framework for safe navigation in dynamic environments characterized by time-varying obstacle sets and time-varying target regions. We propose an analytical construction of time-varying density functions…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…
Despite remarkable progress in Vision-Language Navigation (VLN), existing benchmarks remain confined to fixed, small-scale datasets with naive physical simulation. These shortcomings limit the insight that the benchmarks provide into…
A fundamental challenge in robot navigation lies in learning policies that generalize across diverse environments while conforming to the unique physical constraints and capabilities of a specific embodiment (e.g., quadrupeds can walk up…
Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…
Vision-based tactile sensors typically utilize a deformable elastomer and a camera mounted above to provide high-resolution image observations of contacts. Obtaining accurate volumetric meshes for the deformed elastomer can provide direct…
Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…