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View article: Structured Interfaces for Automated Reasoning with 3D Scene Graphs
Structured Interfaces for Automated Reasoning with 3D Scene Graphs Open
In order to provide a robot with the ability to understand and react to a user's natural language inputs, the natural language must be connected to the robot's underlying representations of the world. Recently, large language models (LLMs)…
View article: Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation
Tell Me Where to Go: A Composable Framework for Context-Aware Embodied Robot Navigation Open
Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to associa…
View article: Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization
Kalman Filter Auto-tuning through Enforcing Chi-Squared Normalized Error Distributions with Bayesian Optimization Open
The nonlinear and stochastic relationship between noise covariance parameter values and state estimator performance makes optimal filter tuning a very challenging problem. Popular optimization-based tuning approaches can easily get trapped…
View article: BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization
BO-ICP: Initialization of Iterative Closest Point Based on Bayesian Optimization Open
Typical algorithms for point cloud registration such as Iterative Closest Point (ICP) require a favorable initial transform estimate between two point clouds in order to perform a successful registration. State-of-the-art methods for choos…
View article: Flexible Supervised Autonomy for Exploration in Subterranean Environments
Flexible Supervised Autonomy for Exploration in Subterranean Environments Open
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (…
View article: Present and Future of SLAM in Extreme Underground Environments
Present and Future of SLAM in Extreme Underground Environments Open
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. Fi…
View article: Heterogeneous Ground-Air Autonomous Vehicle Networking in Austere Environments: Practical Implementation of a Mesh Network in the DARPA Subterranean Challenge
Heterogeneous Ground-Air Autonomous Vehicle Networking in Austere Environments: Practical Implementation of a Mesh Network in the DARPA Subterranean Challenge Open
Implementing a wireless mesh network in a real-life scenario requires a significant systems engineering effort to turn a network concept into a complete system. This paper presents an evaluation of a fielded system within the DARPA Subterr…
View article: Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration Open
Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with t…