Publications | Manthan Patel

DeFM: Learning Foundation Representations from Depth for Robotics

Manthan Patel, Jonas Frey, Mayank Mittal, Fan Yang, Alexander Hansson, Amir Bar, Cesar Cadena, Marco Hutter

Under Review (2026)

Arxiv Paper Project Code

WildOS: Open-Vocabulary Object Search in the Wild

Hardik Shah, Erica Tevere, Deegan Atha, Marcel Kaufmann, Shehryar Khattak, Manthan Patel, Marco Hutter, Jonas Frey, Patrick Spieler

Under Review (2026)

Arxiv Project Code

NaviTrace: Evaluating Embodied Navigation of Vision-Language Models

Tim Windecker, Manthan Patel, Moritz Reuss, Richard Schwarzkopf, Cesar Cadena, Rudolf Lioutikov, Marco Hutter, Jonas Frey

IEEE International Conference on Robotics and Automation (ICRA), 2026

Arxiv Project Code

Large-Scale Autonomous Gas Monitoring for Volcanic Environments: A Legged Robot on Mount Etna

Julia Richter, Turcan Tuna, Manthan Patel, Takahiro Miki, Devon Higgins, James Fox, Cesar Cadena, Andres Diaz, Marco Hutter

Under Review (2026)

Arxiv Paper

VLD: Visual Language Goal Distance for Reinforcement Learning Navigation

Lazar Milikic, Manthan Patel, Jonas Frey

Under Review (2026)

Arxiv Project Code

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation

Manthan Patel, Fan Yang, Yuheng Qiu, Cesar Cadena, Sebastian Scherer, Marco Hutter, Wenshan Wang

International Conference on Intelligent Robots and Systems (IROS), 2025

Arxiv Paper Project Code

Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians

Erik Sandström, Ganlin Zhang, Keisuke Tateno, Michael Oechsle, Michael Niemeyer, Youmin Zhang, Manthan Patel, Luc Van Gool, Martin Oswald, Federico Tombari

CVPR Workshop, 2025

Arxiv

RoadRunner M&M — Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation

Manthan Patel, Jonas Frey, Deegan Atha, Patrick Spieler, Marco Hutter, Shehryar Khattak

IEEE Robotics and Automation Letters (RA-L), 2024

Arxiv Paper Project

RoadRunner — Learning Traversability Estimation for Autonomous Off-road Driving

Jonas Frey, Manthan Patel, Deegan Atha, Julian Nubert, Curtis Padgett, Patrick Spieler, Marco Hutter, Shehryar Khattak

IEEE Transactions on Field Robotics (T-FR), 2024

Arxiv Paper

GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM

Ganlin Zhang*, Erik Sandström*, Youmin Zhang, Manthan Patel, Luc Van Gool, Martin R. Oswald

Arxiv, 2024

Arxiv Paper Project

COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM

Manthan Patel, Marco Karrer, Philipp Bänninger, Margarita Chli

IEEE International Conference on Robotics and Automation (ICRA), 2023

Arxiv Paper Video Code

LiDAR-guided Object Search and Detection in Subterranean Environments

Manthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter

IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2022

Arxiv Paper

Collaborative Mapping of Archaeological Sites using Multiple UAVs

Manthan Patel, Aditya Bandopadhyay, Aamir Ahmad

International Conference on Intelligent Autonomous Systems (IAS), 2021

Arxiv Paper