Jisung Bae

Feel-WM is presented, the first off-road navigation world model that conditions on proprioception and predicts what the robot will feel alongside what the camera will see, and outperforms visual-only navigation world models in open-loop planning and closed-loop rough-terrain navigation across wheeled and legged platforms.

FPAS achieves a breakthrough in navigation efficiency by dynamically adjusting sampling density based on environmental openness, outperforming traditional planners.

Adapting vision foundation models with task-specific prompts and geometric knowledge distillation dramatically improves traversability estimation in challenging outdoor environments, outperforming existing methods in both accuracy and reliability.