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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
DeepBLE: Generalizing RSSI-based Localization Across Diff...
Harsh Agarwal, Navyata Sanghvi, Vivek Roy, Kris Kitani · 2021-02-27 · via cs.RO updates on arXiv.org

Accurate smartphone localization (< 1-meter error) for indoor navigation using only RSSI received from a set of BLE beacons remains a challenging problem, due to the inherent noise of RSSI measurements. To overcome the large variance in RSSI measurements, we propose a data-driven approach that uses a deep recurrent network, DeepBLE, to localize the smartphone using RSSI measured from multiple beacons in an environment. In particular, we focus on the ability of our approach to generalize across many smartphone brands (e.g., Apple, Samsung) and models (e.g., iPhone 8, S10). Towards this end, we collect a large-scale dataset of 15 hours of smartphone data, which consists of over 50,000 BLE beacon RSSI measurements collected from 47 beacons in a single building using 15 different popular smartphone models, along with precise 2D location annotations. Our experiments show that there is a very high variability of RSSI measurements across smartphone models (especially across brand), making it very difficult to apply supervised learning using only a subset of smartphone models. To address this challenge, we propose a novel statistic similarity loss (SSL) which enables our model to generalize to unseen phones using a semi-supervised learning approach. For known phones, the iPhone XR achieves the best mean distance error of 0.84 meters. For unknown phones, the Huawei Mate20 Pro shows the greatest improvement, cutting error by over 38\% from 2.62 meters to 1.63 meters error using our semi-supervised adaptation method.