ShelfAware: Semantic Particle Filter Localization with Low-Cost Sensors

Shivendra Agrawal, Ashutosh Naik, Dusty Woods, Jake Brawer, Bradley Hayes

Paper in progress, 2025

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ShelfAware is a modular localization system for carts, wearable devices, or robots that operates in cluttered, symmetric environments like grocery stores. Using only RGB-D and visual odometry cameras, it fuses semantic classification and depth into a novel particle filter framework for robust pose estimation without relying on LiDAR or wheel odometry.

Cooperative-Adversarial Play (CAP)

Ava Abderezaei, Chi-Hui Lin, Joseph Miceli, Naren Sivagnanadasan, Stéphane Aroca-Ouellette, Jake Brawer, Alessandro Roncone

Paper in progress, 2025

We introduce Cooperative-Adversarial Play (CAP), a training method that improves zero-shot coordination by forcing agents to learn diverse strategies through adversarial teammate interventions. CAP enables agents to adapt to unfamiliar partners more effectively, especially in complex environments like Overcooked, outperforming existing approaches as coordination challenges increase.