Papers
Topics
Authors
Recent
Gemini 2.5 Flash
Gemini 2.5 Flash 96 tok/s
Gemini 2.5 Pro 49 tok/s Pro
GPT-5 Medium 24 tok/s
GPT-5 High 36 tok/s Pro
GPT-4o 102 tok/s
GPT OSS 120B 434 tok/s Pro
Kimi K2 198 tok/s Pro
2000 character limit reached

Depth Matters: Multimodal RGB-D Perception for Robust Autonomous Agents (2503.16711v1)

Published 20 Mar 2025 in cs.RO, cs.CV, and cs.LG

Abstract: Autonomous agents that rely purely on perception to make real-time control decisions require efficient and robust architectures. In this work, we demonstrate that augmenting RGB input with depth information significantly enhances our agents' ability to predict steering commands compared to using RGB alone. We benchmark lightweight recurrent controllers that leverage the fused RGB-D features for sequential decision-making. To train our models, we collect high-quality data using a small-scale autonomous car controlled by an expert driver via a physical steering wheel, capturing varying levels of steering difficulty. Our models, trained under diverse configurations, were successfully deployed on real hardware. Specifically, our findings reveal that the early fusion of depth data results in a highly robust controller, which remains effective even with frame drops and increased noise levels, without compromising the network's focus on the task.

List To Do Tasks Checklist Streamline Icon: https://streamlinehq.com

Collections

Sign up for free to add this paper to one or more collections.

Summary

We haven't generated a summary for this paper yet.

Dice Question Streamline Icon: https://streamlinehq.com

Follow-up Questions

We haven't generated follow-up questions for this paper yet.

Don't miss out on important new AI/ML research

See which papers are being discussed right now on X, Reddit, and more:

“Emergent Mind helps me see which AI papers have caught fire online.”

Philip

Philip

Creator, AI Explained on YouTube