VIRGA: Virtual-Agent-Intermediated Riemannian Geometry for Active-Sensing Air-Ground Coordination

arXiv:2609.21883 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Terminology

• Ablation — 8× in this paper · explained in 1 episode
• Point Clouds — 4× in this paper · explained in 2 episodes
• Trace — 4× in this paper · explained in 2 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Challenges and Opportunities for Large-Scale Exploration with Air-Ground Teams using Semantics
• Implicit Virtual Leader: Decentralized Vision-Only Relative Pose Estimation for Multi-Robot Formations
• Riemannian Motion Policies

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