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View article: Social robot navigation: a review and benchmarking of learning-based methods
Social robot navigation: a review and benchmarking of learning-based methods Open
For autonomous mobile robots to operate effectively in human environments, navigation must extend beyond obstacle avoidance to incorporate social awareness. Safe and fluid interaction in shared spaces requires the ability to interpret huma…
View article: Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection
Sight Over Site: Perception-Aware Reinforcement Learning for Efficient Robotic Inspection Open
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a pred…
View article: Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024
Sight Guide: A Wearable Assistive Perception and Navigation System for the Vision Assistance Race in the Cybathlon 2024 Open
Visually impaired individuals face significant challenges navigating and interacting with unknown situations, particularly in tasks requiring spatial awareness and semantic scene understanding. To accelerate the development and evaluate th…
View article: TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation
TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation Open
We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes multi…
View article: ROS-LLM: A Framework for Embodied AI
ROS-LLM: A Framework for Embodied AI Open
In this work, we present a framework for embodied artificial intelligence (AI). Our proposed system integrates a Large language model (LLM) based AI agent with the popular Robot Operating System (ROS). Key features of the framework include…
View article: Event-based Civil Infrastructure Visual Defect Detection: ev-CIVIL Dataset and Benchmark
Event-based Civil Infrastructure Visual Defect Detection: ev-CIVIL Dataset and Benchmark Open
Small Unmanned Aerial Vehicle (UAV) based visual inspections are a more efficient alternative to manual methods for examining civil structural defects, offering safe access to hazardous areas and significant cost savings by reducing labor …
View article: Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs
Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs Open
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation (e.g., dynamic maneuvers) and accurate global localization (e.g., wayfinding). While most existing sensor-fusion approaches are de…
View article: Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments
Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments Open
Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines…
View article: Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers
Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers Open
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and ceilin…
View article: Continuous-Time State Estimation Methods in Robotics: A Survey
Continuous-Time State Estimation Methods in Robotics: A Survey Open
Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant approac…
View article: IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation
IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation Open
Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical e…
View article: Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models
Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models Open
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 fro…
View article: Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild Open
The ICP registration algorithm has been a preferred method for LiDAR-based robot localization for nearly a decade. However, even in modern SLAM solutions, ICP can degrade and become unreliable in geometrically ill-conditioned environments.…
View article: MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation
MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation Open
Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue defo…
View article: ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning
ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning Open
We present a framework for intuitive robot programming by non-experts, leveraging natural language prompts and contextual information from the Robot Operating System (ROS). Our system integrates large language models (LLMs), enabling non-e…
View article: A framework for collaborative multi-robot mapping using spectral graph wavelets
A framework for collaborative multi-robot mapping using spectral graph wavelets Open
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a centra…
View article: Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision Open
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an onli…
View article: Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Open
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary …
View article: VIRUS-NeRF -- Vision, InfraRed and UltraSonic based Neural Radiance Fields
VIRUS-NeRF -- Vision, InfraRed and UltraSonic based Neural Radiance Fields Open
Autonomous mobile robots are an increasingly integral part of modern factory and warehouse operations. Obstacle detection, avoidance and path planning are critical safety-relevant tasks, which are often solved using expensive LiDAR sensors…
View article: Chapter 7. Autonomous Navigation for Inspection and Maintenance Ground Robotics
Chapter 7. Autonomous Navigation for Inspection and Maintenance Ground Robotics Open
This chapter presents recent research results in the frame of Autonomous Navigation for Inspection and Maintenance Ground Robotics including localization and navigation algorithms, as well as Localization and Mapping of Ground Robots.
View article: Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Open
Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception al…
View article: COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry Open
We present COIN-LIO, a LiDAR Inertial Odometry pipeline that tightly couples information from LiDAR intensity with geometry-based point cloud registration. The focus of our work is to improve the robustness of LiDAR-inertial odometry in ge…
View article: Path-Constrained State Estimation for Rail Vehicles
Path-Constrained State Estimation for Rail Vehicles Open
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train opera…
View article: Path-Constrained State Estimation for Rail Vehicles
Path-Constrained State Estimation for Rail Vehicles Open
Globally rising demand for transportation by rail is pushing existing infrastructure to its capacity limits, necessitating the development of accurate, robust, and high-frequency positioning systems to ensure safe and efficient train opera…
View article: Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Efficient volumetric mapping of multi-scale environments using wavelet-based compression Open
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation.Constant advances in mapping technologies are needed to keep up with the improvements in sen…
View article: Fast Traversability Estimation for Wild Visual Navigation
Fast Traversability Estimation for Wild Visual Navigation Open
Fig. 1: Wild Visual Navigation (WVN) learns to predict traversability from images via online self-supervised learning.Starting from a randomly initialized traversability estimation network without prior assumptions about the environment (a…
View article: iPlanner: Imperative Path Planning
iPlanner: Imperative Path Planning Open
The problem of path planning has been studied for years.Classic planning pipelines, including perception, mapping, and path searching, can result in latency and compounding errors between modules.While recent studies have demonstrated the …
View article: Efficient volumetric mapping of multi-scale environments using wavelet-based compression
Efficient volumetric mapping of multi-scale environments using wavelet-based compression Open
Volumetric maps are widely used in robotics due to their desirable properties in applications such as path planning, exploration, and manipulation. Constant advances in mapping technologies are needed to keep up with the improvements in se…