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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
Optimal Planning and Machine Learning for Responsive Trac...
Sreeja Roy-Singh, Vinay Ravindra, Richard Levinson, Mahta Moghad · 2025-08-09 · via cs.RO updates on arXiv.org

We propose a novel concept of operations using optimal planning methods and machine learning (ML) to collect spaceborne data that is unprecedented for monitoring wildfires, process it to create new or enhanced products in the context of wildfire danger or spread monitoring, and assimilate them to improve existing, wildfire decision support tools delivered to firefighters within latency appropriate for time-critical applications. The concept is studied with respect to NASA's CYGNSS Mission, a constellation of passive microwave receivers that measure specular GNSS-R reflections despite clouds and smoke. Our planner uses a Mixed Integer Program formulation to schedule joint observation data collection and downlink for all satellites. Optimal solutions are found quickly that collect 98-100% of available observation opportunities. ML-based fire predictions that drive the planner objective are greater than 40% more correlated with ground truth than existing state-of-art. The presented case study on the TX Smokehouse Creek fire in 2024 and LA fires in 2025 represents the first high-resolution data collected by CYGNSS of active fires. Creation of Burnt Area Maps (BAM) using ML on data from active fires and BAM assimilation into NASA's Weather Research and Forecasting Model using neural nets to broadcast fire spread are novel outcomes. BAM and CYGNSS obtained soil moisture are integrated for the first time into USGS fire danger maps. Inclusion of CYGNSS data in ML-based burn predictions boosts accuracy by 13%, and inclusion of high-resolution data boosts ML recall by another 15%. The proposed workflow has an expected latency of 6-30h, improving on the current delivery time of multiple days. All components in the proposed concept are shown to be computationally scalable and globally generalizable, with sustainability considerations such as edge efficiency and low latency on small devices.