Presents the first large-scale infrared off-road dataset and a flow-free temporal model achieving state-of-the-art freespace detection performance with real-time inference.
Safe robot navigation via multi-modal anomaly detection
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InFeR retrains imitation learning policies with a VIB loss for OOD failure detection and applies Grad-CAM to localize failure sources, enabling heuristic recovery in visual navigation without additional demonstrations.
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Towards All-Day Perception for Off-Road Driving: A Large-Scale Multispectral Dataset and Comprehensive Benchmark
Presents the first large-scale infrared off-road dataset and a flow-free temporal model achieving state-of-the-art freespace detection performance with real-time inference.
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InFeR: Informed Failure Resilience in Learned Visual Navigation Control
InFeR retrains imitation learning policies with a VIB loss for OOD failure detection and applies Grad-CAM to localize failure sources, enabling heuristic recovery in visual navigation without additional demonstrations.