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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
Benchmarking and Improving Bird's Eye View Perception Rob...
Shaoyuan Xie, Lingdong Kong, Wenwei Zhang, Jiawei Ren, Liang Pan · 2024-05-28 · via cs.RO updates on arXiv.org

Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied conditions remains insufficiently assessed. In this study, we present RoboBEV, an extensive benchmark suite designed to evaluate the resilience of BEV algorithms. This suite incorporates a diverse set of camera corruption types, each examined over three severity levels. Our benchmarks also consider the impact of complete sensor failures that occur when using multi-modal models. Through RoboBEV, we assess 33 state-of-the-art BEV-based perception models spanning tasks like detection, map segmentation, depth estimation, and occupancy prediction. Our analyses reveal a noticeable correlation between the model's performance on in-distribution datasets and its resilience to out-of-distribution challenges. Our experimental results also underline the efficacy of strategies like pre-training and depth-free BEV transformations in enhancing robustness against out-of-distribution data. Furthermore, we observe that leveraging extensive temporal information significantly improves the model's robustness. Based on our observations, we design an effective robustness enhancement strategy based on the CLIP model. The insights from this study pave the way for the development of future BEV models that seamlessly combine accuracy with real-world robustness.