相关论文: LITE: A Learning-Integrated Topological Explorer f…
Localization for autonomous robots in prior maps is crucial for their functionality. This paper offers a solution to this problem for indoor environments called InstaLoc, which operates on an individual lidar scan to localize it within a…
Recent years have seen a proliferation of new digital products for the efficient management of indoor spaces, with important applications like emergency management, virtual property showcasing and interior design. These products rely on…
Navigation research is attracting renewed interest with the advent of learning-based methods. However, this new line of work is largely disconnected from well-established classic navigation approaches. In this paper, we take a step towards…
This paper addresses the problem of building global topological maps from 3D LiDAR point clouds for autonomous mobile robots operating in large-scale, dynamic, and unknown environments. Adaptive Resonance Theory-based Topological Clustering…
In this study we want to connect our previously proposed context-relevant topographical maps with the deep learning community. Our architecture is a classifier with hidden layers that are hierarchical two-dimensional topographical maps.…
We consider the problem of active learning in the context of spatial sampling for level set estimation (LSE), where the goal is to localize all regions where a function of interest lies above/below a given threshold as quickly as possible.…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
Transformer-based 3D reconstruction has emerged as a powerful paradigm for recovering geometry and appearance from multi-view observations, offering strong performance across challenging visual conditions. As these models scale to larger…
Indoor exploration is an important task in disaster relief, emergency response scenarios, and Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first responders by maneuvering autonomously in areas inside…
2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…
This paper presents an incremental replanning algorithm, dubbed LTL-D*, for temporal-logic-based task planning in a dynamically changing environment. Unexpected changes in the environment may lead to failures in satisfying a task…
In standard passive imitation learning, the goal is to learn a target policy by passively observing full execution trajectories of it. Unfortunately, generating such trajectories can require substantial expert effort and be impractical in…
Accurate reconstruction of both the geometric and topological details of a 3D object from a single 2D image embodies a fundamental challenge in computer vision. Existing explicit/implicit solutions to this problem struggle to recover…
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…
Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…
Automatic furniture layout is long desired for convenient interior design. Leveraging the remarkable visual reasoning capabilities of multimodal large language models (MLLMs), recent methods address layout generation in a static manner,…
The budgeted information gathering problem - where a robot with a fixed fuel budget is required to maximize the amount of information gathered from the world - appears in practice across a wide range of applications in autonomous…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
Visual inspection of space-borne assets is of increasing interest to spacecraft operators looking to plan maintenance, characterise damage, and extend the life of high-value satellites in orbit. The environment of Low Earth Orbit (LEO)…
Robust evidence suggests that humans explore their environment using a combination of topological landmarks and coarse-grained path integration. This approach relies on identifiable environmental features (topological landmarks) in tandem…