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09/17/2023
Optimal Scene Graph Planning with Large Language Model Guidance
Recent advances in metric, semantic, and topological mapping have equipp...
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12/03/2022
Policy Learning for Active Target Tracking over Continuous SE(3) Trajectories
This paper proposes a novel model-based policy gradient algorithm for tr...
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09/26/2022
Learning Continuous Control Policies for Information-Theoretic Active Perception
This paper proposes a method for learning continuous control policies fo...
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09/20/2022
Information-theoretic Abstraction of Semantic Octree Models for Integrated Perception and Planning
In this paper, we develop an approach that enables autonomous robots to ...
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04/15/2022
Active Mapping via Gradient Ascent Optimization of Shannon Mutual Information over Continuous SE(3) Trajectories
The problem of active mapping aims to plan an informative sequence of se...
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12/08/2021
Active Bayesian Multi-class Mapping from Range and Semantic Segmentation Observations
The demand for robot exploration in unstructured and unknown environment...
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10/14/2021
Active SLAM over Continuous Trajectory and Control: A Covariance-Feedback Approach
This paper proposes a novel active Simultaneous Localization and Mapping...
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03/10/2021
Active Exploration and Mapping via Iterative Covariance Regulation over Continuous SE(3) Trajectories
This paper develops iterative Covariance Regulation (iCR), a novel metho...
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01/06/2021