MSR Thesis Presentation
Towards Modeling GPS Noise via Raytracing
Abstract: Autonomous robot navigation relies heavily on visual-inertial state estimation, which inherently accumulates drift over extended trajectories. Fusing Global Navigation Satellite System (GNSS) signals mitigates this drift, but evaluating these systems in hardware is resource-intensive. Therefore, existing works often rely on simplified, static noise models to generate GNSS measurements. This thesis presents a raytracing-based GPS [...]
From Simulation to the Real World: A Multi-Level System for Object Navigation with Vision-Language Models
Abstract: Object navigation (ObjectNav) asks a robot to find an instance of a target object category in an unknown environment, which demands perception, spatial reasoning, and long-horizon decision making at once. Today's autonomous robots excel at mapping and moving through space yet lack high-level semantic intelligence, while vision-language models (VLMs) offer rich commonsense reasoning but [...]