Houjun Liu


Framework for subsurface exploration: a DARPA challenge that explores unknown underground environments.

Main Problem: there is a high degree of uncertainty that comes from multiple different systems interacting:

  • sensing
  • environment
  • command execution
  • communication
  • mission state
  • health of systems and subsystems

NeBula treats uncertainty between systems via a POMDP:


NeBula autonomy framework extrapolation on an active source seeking. For instance, combining with semantic understanding, we want to “find the red backpack”.

  • multi-model semantic understanding
  • learning based mobility (vis a vi NeBula)
  • semantic aware source seeking (“finding the thing there”)