4 accepted papers
Navigation Foundation Models (NFMs) trained on large, cross-embodied datasets have demonstrated powerful generalizability on various scenarios. Adopting in-domain fine-tuning upon an NFM efficiently calibrates the visuomotor policy, promising further improvement even in a novel scenario. However, th…
This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from the distribution of surrounding objects. These descriptors a
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching all possible combinations of detected objects and landmarks…
For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe the target person's body with equipped cameras because the target person must be close to the robot for physical interac