Author

Suchendra Bhandarkar

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Preprint Sep 2026

Know-Your-Scene (KYS)-SLAM: Hierarchical Semantic-Motion Priors for Feature Matching in Stereo Visual SLAM

Stereo visual SLAM systems built on local descriptors suffer from semantic ambiguity, instance-level confusion, and independently moving objects, each corrupting data association and accumulating as trajectory drift. Prevailing semantic and dynamic SLAM methods address this through binary feature rejection, sacrificing...

Preeti Chatterjee, Jin-Huan Lu, Jin Sun et al. · 0 citations

#artificial intelligence Preprint Sep 2026

Vestrum: Improving Agent Harnesses by Adapting Their Verification, Structure and Memory

An agent harness controls how a language model accesses information, uses tools, preserves memory, and checks its work. Improving this software is costly when each evaluation requires a long interaction with an environment. We introduce Vestrum, a framework that turns failures in execution traces into scoped harness ch...

Jayant Parashar, Eugene F. Douglass, William C. Bastian et al. · 0 citations