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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
Toward Teach and Repeat Across Seasonal Deep Snow Accumul...
Matěj Boxan, Alexander Krawciw, Timothy D. Barfoot, François Pom · 2025-05-02 · via cs.RO updates on arXiv.org

Teach and repeat is a rapid way to achieve autonomy in challenging terrain and off-road environments. A human operator pilots the vehicles to create a network of paths that are mapped and associated with odometry. Immediately after teaching, the system can drive autonomously within its tracks. This precision lets operators remain confident that the robot will follow a traversable route. However, this operational paradigm has rarely been explored in off-road environments that change significantly through seasonal variation. This paper presents preliminary field trials using lidar and radar implementations of teach and repeat. Using a subset of the data from the upcoming FoMo dataset, we attempted to repeat routes that were 4 days, 44 days, and 113 days old. Lidar teach and repeat demonstrated a stronger ability to localize when the ground points were removed. FMCW radar was often able to localize on older maps, but only with small deviations from the taught path. Additionally, we highlight specific cases where radar localization failed with recent maps due to the high pitch or roll of the vehicle. We highlight lessons learned during the field deployment and highlight areas to improve to achieve reliable teach and repeat with seasonal changes in the environment. Please follow the dataset at https://norlab-ulaval.github.io/FoMo-website for updates and information on the data release.