Tootfinder

Safe Planning in Unknown Environments using Conformalized Semantic Maps
David Smith Sundarsingh, Yifei Li, Tianji Tang, George J. Pappas, Nikolay Atanasov, Yiannis Kantaros
https://arxiv.org/abs/2509.25124

Safe Planning in Unknown Environments using Conformalized Semantic Maps
This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while maintaining class-dependent distances from them. We aim to compute robot paths that complete such semantic reach-avoid tasks with user-defined probability despite uncertain perception. Existing planning algorithms either ignore perceptual uncertainty - thus lacking…

Stabilizing by steering: Enhancing bacterial motility by non-uniform diffusiophoresis
Viet Sang Doan, Ali Nikkhah, Sangwoo Shin
https://arxiv.org/abs/2509.25770 https://

Stabilizing by steering: Enhancing bacterial motility by non-uniform diffusiophoresis
Bacteria are often required to navigate across confined spaces to reach desired destinations in biological and environmental systems, allowing critical functions in host-microbe symbiosis, infection, drug delivery, soil ecology, and soil bioremediation. While the canonical run-and-tumble motility is effective in finding targets under confinement, it may not represent the most ideal strategy due to the continuous monitoring of environmental cues and stochastic recorrection of their paths. Here, …