7 accepted papers
Learning robotic manipulation policies directly in the real world can be expensive and time-consuming. While reinforcement learning (RL) policies trained in simulation present a scalable alternative, effective sim-to-real transfer remains challenging, particularly for tasks that require precise dyna…
Large vision-language models have driven remarkable progress in open-vocabulary robot policies, e.g., generalist robot manipulation policies, that enable robots to complete complex tasks specified in natural language. Despite these successes, open-vocabulary autonomous drone navigation remains an un…
We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an open-vocabulary search instruction (e.g., “find a person”), VISTA
We present VISTA (Viewpoint-based Image selection with Semantic Task Awareness), an active exploration method for robots to plan informative trajectories that improve 3D map quality in areas most relevant for task completion. Given an open-vocabulary search instruction (e.g., "find a person"), VISTA…
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive safety filter, based on control barrier functions, for safe robotic navigation in a detailed map constructed at runtime using Gaussian Splatting (GSplat). We propose a novel Co
We present a scalable distributed target tracking algorithm based on the alternating direction method of multipliers that is well-suited for a fleet of autonomous cars communicating over a vehicle-to-vehicle network. Each sensing vehicle communicates with its neighbors to execute iterations of a Kal…
We present a distributed algorithm to enable a group of robots to collaboratively manipulate an object to a desired configuration while avoiding obstacles. Each robot solves a local optimization problem iteratively and communicates with its local neighbors, ultimately converging to the optimal traje…