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

V Vestrum, a framework that turns failures in execution traces into scoped harness changes without training the task model, is introduced, a framework that turns failures in execution traces into scoped harness changes without training the task model.

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