Enhancing Scene Graph Generation with Hierarchical Relationships and Commonsense Knowledge

1 code implementation • 21 Nov 2023 • Bowen Jiang, Zhijun Zhuang, Camillo Jose Taylor

This work presents an enhanced approach to generating scene graphs by incorporating a relationship hierarchy and commonsense knowledge.

Large Language Model Multimodal Deep Learning +4

Instance-Agnostic Geometry and Contact Dynamics Learning

no code implementations • 11 Sep 2023 • Mengti Sun, Bowen Jiang, Bibit Bianchini, Camillo Jose Taylor, Michael Posa

This work presents an instance-agnostic learning framework that fuses vision with dynamics to simultaneously learn shape, pose trajectories, and physical properties via the use of geometry as a shared representation.

Mine Tunnel Exploration using Multiple Quadrupedal Robots

1 code implementation • 20 Sep 2019 • Ian D. Miller, Fernando Cladera, Anthony Cowley, Shreyas S. Shivakumar, Elijah S. Lee, Laura Jarin-Lipschitz, Akhilesh Bhat, Neil Rodrigues, Alex Zhou, Avraham Cohen, Adarsh Kulkarni, James Laney, Camillo Jose Taylor, Vijay Kumar

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility.

Robotics

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments

no code implementations • 6 Dec 2017 • Kartik Mohta, Michael Watterson, Yash Mulgaonkar, Sikang Liu, Chao Qu, Anurag Makineni, Kelsey Saulnier, Ke Sun, Alex Zhu, Jeffrey Delmerico, Konstantinos Karydis, Nikolay Atanasov, Giuseppe Loianno, Davide Scaramuzza, Kostas Daniilidis, Camillo Jose Taylor, Vijay Kumar

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment.

Robotics