Sebastian Scherer
収録論文 166本 ・ フィジカルAI/ロボット学習
ナビゲーション
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- SCOPE: 未知3D環境における視野を考慮した安全ボリューム認証による経路計画ナビゲーション2026/8/5
ロボットに搭載された限られた視野のセンサを用いて、未知環境で安全にナビゲーションするために、移動前に意図した動作のロボット膨張ボリューム全体が観測され、安全であると認証されることを要求する。この要求をオンラインの安全ボリューム認証として定式化し、認証済みグラフを構築して、楽観的な目標指向のガイダンスと認証済み実行を分離する計画フレームワークSCOPEを提案する。
- SCOPE: Field-of-View-Aware Path Planning in Unknown 3D Environments via Safety-Volume Certification2026/8/1
- Distilling Global Traversability Priors for Image-based Affordance Prediction in Off-road Environments2026/7/1
- Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures2026/6/1
- Neuro-Symbolic Learning for Long-Horizon Task Planning Under Complex Logical Constraints2026/6/1
- Don't Fool Me Twice: Adapting to Adversity in the Wild with Experience-Driven Reasoning2026/5/1
- PRoID: Predicted Rate of Information Delivery in Multi-Robot Exploration and Relaying2026/4/1
- KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning2026/4/1
- World2Rules: A Neuro-Symbolic Framework for Learning World-Governing Safety Rules for Aviation2026/3/1
- Learning Energy-Efficient Air--Ground Actuation for Hybrid Robots on Stair-Like Terrain2026/3/1
- AnyThermal: Towards Learning Universal Representations for Thermal Perception2026/2/1
- SyNeT: Synthetic Negatives for Traversability Learning2026/2/1
- Any4D: Unified Feed-Forward Metric 4D Reconstruction2025/12/1
- GrndCtrl: Grounding World Models via Self-Supervised Reward Alignment2025/12/1
- Unifying Deep Predicate Invention with Pre-trained Foundation Models2025/12/1
- Co-Me: Confidence-Guided Token Merging for Visual Geometric Transformers2025/11/1
- Hierarchical Planning for Long-Horizon Multi-Target Tracking Under Target Motion Uncertainty2025/10/1
- UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies2025/10/1
- RAVEN: Resilient Aerial Navigation via Open-Set Semantic Memory and Behavior Adaptation2025/9/1
- The Case for Negative Data: From Crash Reports to Counterfactuals for Reasonable Driving2025/9/1
- Constrained Decoding for Safe Robot Navigation Foundation Models2025/9/1
- AutoODD: Agentic Audits via Bayesian Red Teaming in Black-Box Models2025/9/1
- MapAnything: Universal Feed-Forward Metric 3D Reconstruction2025/9/1
- UFM: A Simple Path towards Unified Dense Correspondence with Flow2025/6/1
- BETTY Dataset: A Multi-modal Dataset for Full-Stack Autonomy2025/5/1
- TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation2025/5/1
- Demonstrating ViSafe: Vision-enabled Safety for High-speed Detect and Avoid2025/5/1
- Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning2025/4/1
- RayFronts: Open-Set Semantic Ray Frontiers for Online Scene Understanding and Exploration2025/4/1
- MapExRL: Human-Inspired Indoor Exploration with Predicted Environment Context and Reinforcement Learning2025/3/1
- PIPE Planner: Pathwise Information Gain with Map Predictions for Indoor Robot Exploration2025/3/1
- Bilevel Learning for Bilevel Planning2025/2/1
- IA-TIGRIS: An Incremental and Adaptive Sampling-Based Planner for Online Informative Path Planning2025/2/1
- Aug3D: Augmenting large scale outdoor datasets for Generalizable Novel View Synthesis2025/1/1
- AirIO: Learning Inertial Odometry with Enhanced IMU Feature Observability2025/1/1
- Scalable Benchmarking and Robust Learning for Noise-Free Ego-Motion and 3D Reconstruction from Noisy Video2025/1/1
- CoCap: Coordinated motion Capture for multi-actor scenes in outdoor environments2024/12/1
- SuperLoc: The Key to Robust LiDAR-Inertial Localization Lies in Predicting Alignment Risks2024/12/1
- SALON: Self-supervised Adaptive Learning for Off-road Navigation2024/12/1
- MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions2024/9/1
- FIReStereo: Forest InfraRed Stereo Dataset for UAS Depth Perception in Visually Degraded Environments2024/9/1
- MAC-VO: Metrics-aware Covariance for Learning-based Stereo Visual Odometry2024/9/1
- Fast and Modular Autonomy Software for Autonomous Racing Vehicles2024/8/1
- UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments2024/7/1
- Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation2024/7/1
- Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV2024/7/1
- RuleFuser: An Evidential Bayes Approach for Rule Injection in Imitation Learned Planners and Predictors for Robustness under Distribution Shifts2024/5/1
- General Place Recognition Survey: Towards Real-World Autonomy2024/5/1
- Geometry-Informed Distance Candidate Selection for Adaptive Lightweight Omnidirectional Stereo Vision with Fisheye Images2024/5/1
- UniSaT: Unified-Objective Belief Model and Planner to Search for and Track Multiple Objects2024/5/1
- Multi-Robot Planning for Filming Groups of Moving Actors Leveraging Submodularity and Pixel Density2024/4/1
- Deep Bayesian Future Fusion for Self-Supervised, High-Resolution, Off-Road Mapping2024/3/1
- Learning Generalizable Feature Fields for Mobile Manipulation2024/3/1
- TartanDrive 2.0: More Modalities and Better Infrastructure to Further Self-Supervised Learning Research in Off-Road Driving Tasks2024/2/1
- A Unified MPC Strategy for a Tilt-rotor VTOL UAV Towards Seamless Mode Transitioning2024/2/1
- Aerial Field Robotics2024/1/1
- Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis2023/12/1
- WIT-UAS: A Wildland-fire Infrared Thermal Dataset to Detect Crew Assets From Aerial Views2023/12/1
- SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM2023/12/1
- PIAug -- Physics Informed Augmentation for Learning Vehicle Dynamics for Off-Road Navigation2023/11/1
- Enhancing Multi-Drone Coordination for Filming Group Behaviours in Dynamic Environments2023/10/1
- AirIMU: Learning Uncertainty Propagation for Inertial Odometry2023/10/1
- Aerial Interaction with Tactile Sensing2023/10/1
- FoundLoc: Vision-based Onboard Aerial Localization in the Wild2023/10/1
- Greedy Perspectives: Multi-Drone View Planning for Collaborative Perception in Cluttered Environments2023/10/1
- SoRTS: Learned Tree Search for Long Horizon Social Robot Navigation2023/9/1
- 2D-3D Pose Tracking with Multi-View Constraints2023/9/1
- PyPose v0.6: The Imperative Programming Interface for Robotics2023/9/1
- AnyLoc: Towards Universal Visual Place Recognition2023/8/1
- SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments2023/7/1
- Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation2023/7/1
- Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition2023/7/1
- Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV2023/6/1
- Learning-on-the-Drive: Self-supervised Adaptation of Visual Offroad Traversability Models2023/6/1
- Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification2023/6/1
- A Simulator for Fully-Actuated UAVs2023/5/1
- Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace2023/4/1
- Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation2023/2/1
- Attention-Enhanced Cross-modal Localization Between 360 Images and Point Clouds2022/12/1
- UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction2022/12/1
- Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace2022/11/1
- TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags2022/10/1
- Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains2022/9/1
- AirTrack: Onboard Deep Learning Framework for Long-Range Aircraft Detection and Tracking2022/9/1
- PyPose: A Library for Robot Learning with Physics-based Optimization2022/9/1
- General Place Recognition Survey: Towards the Real-world Autonomy Age2022/9/1
- iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images2022/9/1
- MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position2022/9/1
- How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability2022/9/1
- DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments2022/9/1
- Robotic Interestingness via Human-Informed Few-Shot Object Detection2022/8/1
- BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition2022/8/1
- Present and Future of SLAM in Extreme Underground Environments2022/8/1
- SphereVLAD++: Attention-based and Signal-enhanced Viewpoint Invariant Descriptor2022/7/1
- ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization2022/7/1
- AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments2022/7/1
- VTOL Failure Detection and Recovery by Utilizing Redundancy2022/6/1
- Robust Modeling and Controls for Racing on the Edge2022/5/1
- TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models2022/5/1
- Detection and Physical Interaction with Deformable Linear Objects2022/5/1
- ALITA: A Large-scale Incremental Dataset for Long-term Autonomy2022/5/1
- Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure2022/5/1
- Off-Policy Evaluation with Online Adaptation for Robot Exploration in Challenging Environments2022/4/1
- TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning2022/3/1
- AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognition2021/11/1
- AirObject: A Temporally Evolving Graph Embedding for Object Identification2021/11/1
- Unsupervised Online Learning for Robotic Interestingness with Visual Memory2021/11/1
- Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance2021/10/1
- Toward Efficient and Robust Multiple Camera Visual-inertial Odometry2021/9/1
- Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild2021/9/1
- AirLoop: Lifelong Loop Closure Detection2021/9/1
- AirDOS: Dynamic SLAM benefits from Articulated Objects2021/9/1
- Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace2021/9/1
- 3D Human Reconstruction in the Wild with Collaborative Aerial Cameras2021/8/1
- Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics2021/8/1
- Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 20202021/7/1
- VDB-EDT: An Efficient Euclidean Distance Transform Algorithm Based on VDB Data Structure2021/5/1
- AirCode: A Robust Object Encoding Method2021/5/1
- CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model2021/5/1
- i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions2021/5/1
- 3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors2021/5/1
- Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments2021/4/1
- Visual Servoing Approach for Autonomous UAV Landing on a Moving Vehicle2021/4/1
- ORStereo: Occlusion-Aware Recurrent Stereo Matching for 4K-Resolution Images2021/3/1
- Graph-Based Topological Exploration Planning in Large-Scale 3D Environments2021/3/1
- In-flight positional and energy use data set of a DJI Matrice 100 quadcopter for small package delivery2021/3/1
- Real-Time Ellipse Detection for Robotics Applications2021/2/1
- TP-TIO: A Robust Thermal-Inertial Odometry with Deep ThermalPoint2020/12/1
- Integration of Fully-Actuated Multirotors into Real-World Applications2020/11/1
- Do You See What I See? Coordinating Multiple Aerial Cameras for Robot Cinematography2020/11/1
- Batteries, camera, action! Learning a semantic control space for expressive robot cinematography2020/11/1
- TartanVO: A Generalizable Learning-based VO2020/11/1
- A Robust Laser-Inertial Odometry and Mapping Method for Large-Scale Highway Environments2020/9/1
- Visual Memorability for Robotic Interestingness via Unsupervised Online Learning2020/5/1
- TartanAir: A Dataset to Push the Limits of Visual SLAM2020/3/1
- Line-based Camera Pose Estimation in Point Cloud of Structured Environments2019/12/1
- Deep-Learning Assisted High-Resolution Binocular Stereo Depth Reconstruction2019/12/1
- LiDAR Enhanced Structure-from-Motion2019/11/1
- A Stereo Algorithm for Thin Obstacles and Reflective Objects2019/10/1
- Autonomous Aerial Cinematography In Unstructured Environments With Learned Artistic Decision-Making2019/10/1
- Learning Visuomotor Policies for Aerial Navigation Using Cross-Modal Representations2019/9/1
- Automatic Real-time Anomaly Detection for Autonomous Aerial Vehicles2019/7/1
- ALFA: A Dataset for UAV Fault and Anomaly Detection2019/7/1
- A Joint Optimization Approach of LiDAR-Camera Fusion for Accurate Dense 3D Reconstructions2019/7/1
- Can a Robot Become a Movie Director? Learning Artistic Principles for Aerial Cinematography2019/4/1
- Towards a Robust Aerial Cinematography Platform: Localizing and Tracking Moving Targets in Unstructured Environments2019/4/1
- Improved Generalization of Heading Direction Estimation for Aerial Filming Using Semi-supervised Regression2019/3/1
- Monocular and Stereo Cues for Landing Zone Evaluation for Micro UAVs2018/12/1
- RGB-D SLAM in Dynamic Environments Using Point Correlations2018/11/1
- Joint Point Cloud and Image Based Localization For Efficient Inspection in Mixed Reality2018/11/1
- A Unified 3D Mapping Framework using a 3D or 2D LiDAR2018/10/1
- Integrating kinematics and environment context into deep inverse reinforcement learning for predicting off-road vehicle trajectories2018/10/1
- Monocular Object and Plane SLAM in Structured Environments2018/9/1
- Open Problems in Robotic Anomaly Detection2018/9/1
- Autonomous drone cinematographer: Using artistic principles to create smooth, safe, occlusion-free trajectories for aerial filming2018/8/1
- CubeSLAM: Monocular 3D Object SLAM2018/6/1
- Bayesian Active Edge Evaluation on Expensive Graphs2017/11/1
- Data-driven Planning via Imitation Learning2017/11/1
- Robust Localization of an Arbitrary Distribution of Radioactive Sources for Aerial Inspection2017/10/1
- Semantic 3D Occupancy Mapping through Efficient High Order CRFs2017/7/1
- Learning Heuristic Search via Imitation2017/7/1
- Near-Optimal Edge Evaluation in Explicit Generalized Binomial Graphs2017/6/1
- Adaptive Information Gathering via Imitation Learning2017/5/1
- Obstacle Avoidance through Deep Networks based Intermediate Perception2017/4/1
- Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments2017/3/1
- Direct Monocular Odometry Using Points and Lines2017/3/1