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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
CLIPPER+: A Fast Maximal Clique Algorithm for Robust Glob...
Kaveh Fathian, Tyler Summers · 2024-02-24 · via cs.RO updates on arXiv.org

We present CLIPPER+, an algorithm for finding maximal cliques in unweighted graphs for outlier-robust global registration. The registration problem can be formulated as a graph and solved by finding its maximum clique. This formulation leads to extreme robustness to outliers; however, finding the maximum clique is an NP-hard problem, and therefore approximation is required in practice for large-size problems. The performance of an approximation algorithm is evaluated by its computational complexity (the lower the runtime, the better) and solution accuracy (how close the solution is to the maximum clique). Accordingly, the main contribution of CLIPPER+ is outperforming the state-of-the-art in accuracy while maintaining a relatively low runtime. CLIPPER+ builds on prior work (CLIPPER [1] and PMC [2]) and prunes the graph by removing vertices that have a small core number and cannot be a part of the maximum clique. This will result in a smaller graph, on which the maximum clique can be estimated considerably faster. We evaluate the performance of CLIPPER+ on standard graph benchmarks, as well as synthetic and real-world point cloud registration problems. These evaluations demonstrate that CLIPPER+ has the highest accuracy and can register point clouds in scenarios where over $99\%$ of associations are outliers. Our code and evaluation benchmarks are released at https://github.com/ariarobotics/clipperp.