Rohan Baijal
@rohanblueboybaijal.bsky.social
Robotics PhD @ UW | IITK, CMU
Wandering musician with a beach ball
Wandering musician with a beach ball
🤖 Real-world tested: LRN cuts down interventions on Spot and a large tracked vehicle.
✅ Plug & play: Works with nearly any local stack that accepts goal waypoints.
🔄 Auto-labeled: Trained from raw FPV videos using CoTracker to trace camera paths.
🧵4/6
✅ Plug & play: Works with nearly any local stack that accepts goal waypoints.
🔄 Auto-labeled: Trained from raw FPV videos using CoTracker to trace camera paths.
🧵4/6
April 18, 2025 at 5:56 PM
🤖 Real-world tested: LRN cuts down interventions on Spot and a large tracked vehicle.
✅ Plug & play: Works with nearly any local stack that accepts goal waypoints.
🔄 Auto-labeled: Trained from raw FPV videos using CoTracker to trace camera paths.
🧵4/6
✅ Plug & play: Works with nearly any local stack that accepts goal waypoints.
🔄 Auto-labeled: Trained from raw FPV videos using CoTracker to trace camera paths.
🧵4/6
🔥 Key insight: Robots can reason further by learning to identify distant affordable frontiers as intermediate goals.
🧠 How it works: It uses a pre-trained SAM2 backbone + small head to find frontiers in images. Given a goal, it selects the highest-scoring one to navigate to.
🧵3/6
🧠 How it works: It uses a pre-trained SAM2 backbone + small head to find frontiers in images. Given a goal, it selects the highest-scoring one to navigate to.
🧵3/6
April 18, 2025 at 5:56 PM
🔥 Key insight: Robots can reason further by learning to identify distant affordable frontiers as intermediate goals.
🧠 How it works: It uses a pre-trained SAM2 backbone + small head to find frontiers in images. Given a goal, it selects the highest-scoring one to navigate to.
🧵3/6
🧠 How it works: It uses a pre-trained SAM2 backbone + small head to find frontiers in images. Given a goal, it selects the highest-scoring one to navigate to.
🧵3/6
❗️Problem: Robots navigating with no prior maps relying only on local sensors have a limited mapping range (due to sparse/noisy depth) causing myopic decisions.
🧵2/6
🧵2/6
April 18, 2025 at 5:56 PM
❗️Problem: Robots navigating with no prior maps relying only on local sensors have a limited mapping range (due to sparse/noisy depth) causing myopic decisions.
🧵2/6
🧵2/6
Long Range Navigator (LRN) 🧭— an approach to extend planning horizons for off-road navigation given no prior maps. Using vision LRN makes longer-range decisions by spotting navigation frontiers far beyond the range of metric maps.
personalrobotics.github.io/lrn/
🧵1/6
personalrobotics.github.io/lrn/
🧵1/6
April 18, 2025 at 5:56 PM
Long Range Navigator (LRN) 🧭— an approach to extend planning horizons for off-road navigation given no prior maps. Using vision LRN makes longer-range decisions by spotting navigation frontiers far beyond the range of metric maps.
personalrobotics.github.io/lrn/
🧵1/6
personalrobotics.github.io/lrn/
🧵1/6