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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
What you see is what you get: Experience ranking with dee...
Matthew Gadd, Benjamin Ramtoula, Daniele De Martini, Paul Newman · 2023-10-21 · via cs.RO updates on arXiv.org

Recalling the most relevant visual memories for localisation or understanding a priori the likely outcome of localisation effort against a particular visual memory is useful for efficient and robust visual navigation. Solutions to this problem should be divorced from performance appraisal against ground truth - as this is not available at run-time - and should ideally be based on generalisable environmental observations. For this, we propose applying the recently developed Visual DNA as a highly scalable tool for comparing datasets of images - in this work, sequences of map and live experiences. In the case of localisation, important dataset differences impacting performance are modes of appearance change, including weather, lighting, and season. Specifically, for any deep architecture which is used for place recognition by matching feature volumes at a particular layer, we use distribution measures to compare neuron-wise activation statistics between live images and multiple previously recorded past experiences, with a potentially large seasonal (winter/summer) or time of day (day/night) shift. We find that differences in these statistics correlate to performance when localising using a past experience with the same appearance gap. We validate our approach over the Nordland cross-season dataset as well as data from Oxford's University Parks with lighting and mild seasonal change, showing excellent ability of our system to rank actual localisation performance across candidate experiences.