Author

Marco Hutter

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Preprint Sep 2026

Transformer-based Monte Carlo Localization in Construction Meshes

To be able to perform inspection or digitization tasks, mobile robots on construction sites must be able to localize themselves reliably with respect to a global reference frame that is shared with a building map. Similar room layouts and low-texture surfaces pose a challenge for existing LiDAR- and vision-based locali...

Linus Kramer, William Talbot, O. Vysotska et al. · 0 citations

Preprint Sep 2026

What do VLM-Based Vision-Language Navigation Models Rely on: Interpreting and Steering Policy Behavior

This work uses intervention-based metrics that measure how visual observations, instructions, and visual memory causally influence navigation decisions and shows that these navigation policies are sensitive to all input modalities and do not depend on a single one.

Débora Oliveira Makowski, Samiran Gode, Abhijeet Nayak et al. · 0 citations