AURASeg: Attention-guided Upsampling with Residual-Assistive Boundary Refinement for Onboard Robot Drivable-Area Segmentation

Fuente: arXiv

Guardado en:

Detalles Bibliográficos
Autores principales:	Vijayakumar, Narendhiran, M, Sridevi.
Formato:	Preprint
Publicado:	2025
Materias:	Robotics Computer Vision and Pattern Recognition
Acceso en línea:	Acceder al recurso
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

Ejemplares similares

High-Quality Unknown Object Instance Segmentation via Quadruple Boundary Error Refinement
por: Back, Seunghyeok, et al.
Publicado: (2023)

Fast LiDAR Upsampling using Conditional Diffusion Models
por: Helgesen, Sander Elias Magnussen, et al.
Publicado: (2024)

Pose-Guided Residual Refinement for Interpretable Text-to-Motion Generation and Editing
por: Jeong, Sukhyun, et al.
Publicado: (2025)

PovNet+: A Deep Learning Architecture for Socially Assistive Robots to Learn and Assist with Multiple Activities of Daily Living
por: Robinson, Fraser, et al.
Publicado: (2026)

Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots
por: Hopkins, Malakhi, et al.
Publicado: (2025)

Language-driven Grasp Detection with Mask-guided Attention
por: Van Vo, Tuan, et al.
Publicado: (2024)

SuperPC: A Single Diffusion Model for Point Cloud Completion, Upsampling, Denoising, and Colorization
por: Du, Yi, et al.
Publicado: (2025)

Mobile-Seed: Joint Semantic Segmentation and Boundary Detection for Mobile Robots
por: Liao, Youqi, et al.
Publicado: (2023)

GABI: Geometry-Aware Boundary Integration for Spacecraft Segmentation
por: Velentzas, Iason Georgios, et al.
Publicado: (2026)

Task-Oriented Pre-Training for Drivable Area Detection
por: Ma, Fulong, et al.
Publicado: (2024)

Learning Precise Affordances from Egocentric Videos for Robotic Manipulation
por: Li, Gen, et al.
Publicado: (2024)

BoRe-Depth: Self-supervised Monocular Depth Estimation with Boundary Refinement for Embedded Systems
por: Liu, Chang, et al.
Publicado: (2025)

DiG-Net: Enhancing Human-Robot Interaction through Hyper-Range Dynamic Gesture Recognition in Assistive Robotics
por: Beeri, Eran Bamani, et al.
Publicado: (2025)

RobotSeg: A Model and Dataset for Segmenting Robots in Image and Video
por: Mei, Haiyang, et al.
Publicado: (2025)

Volumetric Mapping with Panoptic Refinement via Kernel Density Estimation for Mobile Robots
por: Nguyen, Khang, et al.
Publicado: (2024)

Language-guided Robust Navigation for Mobile Robots in Dynamically-changing Environments
por: Simons, Cody, et al.
Publicado: (2024)

Contrastive Imitation Learning for Language-guided Multi-Task Robotic Manipulation
por: Ma, Teli, et al.
Publicado: (2024)

GeoReFormer: Geometry-Aware Refinement for Lane Segment Detection and Topology Reasoning
por: Abraham, Danny, et al.
Publicado: (2026)

Garbage Segmentation and Attribute Analysis by Robotic Dogs
por: Xu, Nuo, et al.
Publicado: (2024)

NeoARCADE: Robust Calibration for Distance Estimation to Support Assistive Drones for the Visually Impaired
por: Raj, Suman, et al.
Publicado: (2025)

DFM-VLA: Iterative Action Refinement for Robot Manipulation via Discrete Flow Matching
por: Chen, Jiayi, et al.
Publicado: (2026)

High-throughput Visual Nano-drone to Nano-drone Relative Localization using Onboard Fully Convolutional Networks
por: Crupi, Luca, et al.
Publicado: (2024)

Boundary Exploration of Next Best View Policy in 3D Robotic Scanning
por: Li, Leihui, et al.
Publicado: (2024)

Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot
por: Ceola, Federico, et al.
Publicado: (2022)

A Coarse-to-Fine Place Recognition Approach using Attention-guided Descriptors and Overlap Estimation
por: Fu, Chencan, et al.
Publicado: (2023)

Temporally Consistent Unsupervised Segmentation for Mobile Robot Perception
por: Ellis, Christian, et al.
Publicado: (2025)

Edge Detection for Organ Boundaries via Top Down Refinement and SubPixel Upsampling
por: Mehta, Aarav, et al.
Publicado: (2025)

Epipolar Attention Field Transformers for Bird's Eye View Semantic Segmentation
por: Witte, Christian, et al.
Publicado: (2024)

From Steering to Pedalling: Do Autonomous Driving VLMs Generalize to Cyclist-Assistive Spatial Perception and Planning?
por: Nakka, Krishna Kanth, et al.
Publicado: (2026)

More than Segmentation: Benchmarking SAM 3 for Segmentation, 3D Perception, and Reconstruction in Robotic Surgery
por: Dong, Wenzhen, et al.
Publicado: (2025)

ViTA-Seg: Vision Transformer for Amodal Segmentation in Robotics
por: Caramia, Donato, et al.
Publicado: (2025)

LiPS: Lightweight Panoptic Segmentation for Resource-Constrained Robotics
por: Galagain, Calvin, et al.
Publicado: (2026)

Nano-U: Efficient Terrain Segmentation for Tiny Robot Navigation
por: Pizzolato, Federico, et al.
Publicado: (2026)

Reliability-aware Execution Gating for Near-field and Off-axis Vision-guided Robotic Alignment
por: Hu, Ning, et al.
Publicado: (2026)

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy
por: Garcia, Ricardo, et al.
Publicado: (2024)

SEMNAV: Enhancing Visual Semantic Navigation in Robotics through Semantic Segmentation
por: Flor-Rodríguez, Rafael, et al.
Publicado: (2025)

Outlier-Robust Long-Term Robotic Mapping Leveraging Ground Segmentation
por: Lim, Hyungtae
Publicado: (2024)

Fine-Grained Action Segmentation for Renorrhaphy in Robot-Assisted Partial Nephrectomy
por: Dai, Jiaheng, et al.
Publicado: (2026)

A Diver Attention Estimation Framework for Effective Underwater Human-Robot Interaction
por: Enan, Sadman Sakib, et al.
Publicado: (2022)

Residual-NeRF: Learning Residual NeRFs for Transparent Object Manipulation
por: Duisterhof, Bardienus P., et al.
Publicado: (2024)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

Environment & details:

GET Data empty

POST Data empty

Files empty

Key	Value
ui	"standard"
VUFIND_SESSION	"483cdd3c7beb746b0e55297779baedcc"
language	"es"

Session

Key	Value
__Laminas	array:2 [`"_REQUEST_ACCESS_TIME" => 1790979637.644 "_VALID" => array:1 [ "Laminas\Session\Validator\Id" => "483cdd3c7beb746b0e55297779baedcc" ]`]
SessionState	Laminas\Stdlib\ArrayObject {#938}
FlashMessenger	Laminas\Stdlib\ArrayObject {#1433}
SessionHelper	Laminas\Stdlib\ArrayObject {#1759}

Server/Request Data

Key	Value
REDIRECT_VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
REDIRECT_HTTPS	"on"
REDIRECT_SSL_TLS_SNI	"info.umar.mx"
REDIRECT_STATUS	"200"
VUFIND_LOCAL_DIR	"/usr/local/vufind/local"
HTTPS	"on"
SSL_TLS_SNI	"info.umar.mx"
HTTP_ACCEPT	"/"
HTTP_USER_AGENT	"Mozilla/5.0 AppleWebKit/537.36 (KHTML, like Gecko; compatible; ClaudeBot/1.0; +claudebot@anthropic.com)"
HTTP_COOKIE	"ui=standard; VUFIND_SESSION=483cdd3c7beb746b0e55297779baedcc; language=es"
HTTP_ACCEPT_ENCODING	"gzip, br, zstd, deflate"
HTTP_HOST	"info.umar.mx"
PATH	"/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/snap/bin"
SERVER_SIGNATURE	"<address>Apache/2.4.66 (Ubuntu) Server at info.umar.mx Port 443</address>\n"
SERVER_SOFTWARE	"Apache/2.4.66 (Ubuntu)"
SERVER_NAME	"info.umar.mx"
SERVER_ADDR	"200.23.222.19"
SERVER_PORT	"443"
REMOTE_ADDR	"216.73.217.142"
DOCUMENT_ROOT	"/usr/local/vufind/public"
REQUEST_SCHEME	"https"
CONTEXT_PREFIX	""
CONTEXT_DOCUMENT_ROOT	"/usr/local/vufind/public"
SERVER_ADMIN	"admin@localhost"
SCRIPT_FILENAME	"/usr/local/vufind/public/index.php"
REMOTE_PORT	"33577"
REDIRECT_URL	""" /Record/\n arxiv_https___arxiv_org_abs_2510_21536/Similar """
GATEWAY_INTERFACE	"CGI/1.1"
SERVER_PROTOCOL	"HTTP/1.1"
REQUEST_METHOD	"GET"
QUERY_STRING	""
REQUEST_URI	"/Record/%0Aarxiv_https___arxiv_org_abs_2510_21536/Similar"
SCRIPT_NAME	"/index.php"
PHP_SELF	"/index.php"
REQUEST_TIME_FLOAT	1790979637.6343
REQUEST_TIME	1790979637

Environment Variables empty

Registered Handlers

0. Whoops\Handler\PrettyPageHandler