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05/11/2023
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems
3D spatial perception is the problem of building and maintaining an acti...
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04/26/2023
Hydra-Multi: Collaborative Online Construction of 3D Scene Graphs with Multi-Robot Teams
3D scene graphs have recently emerged as an expressive high-level map re...
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01/31/2022
Hydra: A Real-time Spatial Perception Engine for 3D Scene Graph Construction and Optimization
3D scene graphs have recently emerged as a powerful high-level represent...
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08/02/2021
Hierarchical Representations and Explicit Memory: Learning Effective Navigation Policies on 3D Scene Graphs using Graph Neural Networks
Representations are crucial for a robot to learn effective navigation po...
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03/11/2021
Dynamic Grasping with a "Soft" Drone: From Theory to Practice
Rigid grippers used in existing aerial manipulators require precise posi...
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01/18/2021
Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs
Humans are able to form a complex mental model of the environment they m...
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07/12/2019