8 accepted papers
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on structured indoor environments, which often exhibit predictable, repeating patterns. Conventional frontier-based exploration approaches have difficulty leveraging this predictab
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a more comprehensive estimation but is often computationally chal
Open-set semantic mapping is crucial for openworld robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settings, where overall they fail to combine within-range and beyond-range observations. Furthermore, these methods make a trad
Autonomous robot navigation in off-road environments presents a number of challenges due to its lack of structure, making it difficult to handcraft robust heuristics for diverse scenarios. While learned methods using hand labels or self-supervised data improve generalizability, they often require a
Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (> 50m) perception for safe navigation. Current approaches are lim…
Top-down Bird's Eye View (BEV) maps are a popular perception representation for ground robot navigation due to their richness and flexibility for downstream tasks. While recent methods have shown promise for predicting BEV maps from First-Person View (FPV) images, their generalizability is limited t…
Aerial vehicles are revolutionizing applications that require capturing the 3D structure of dynamic targets in the wild, such as sports, medicine and entertainment. The core challenges in developing a motion-capture system that operates in outdoors environments are: (1) 3D inference requires multipl…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while filming a moving target usually requires multiple expert human ope…