Glen Berseth

I am an assistant professor at the University de Montreal and Mila. My research explores how to use deep learning and reinforcement learning to develop generalist robots.

#Geometry Articles


ACCLMesh: Curvature-Based Navigation Mesh Generation

Glen Berseth, Mubbasir Kapadia, Petros Faloutsos

The proposed method robustly and efficiently computes a navigation mesh for arbitrary and dynamic 3D environments based on curvature. This method addresses a number of known limitations in state-of-the-art techniques to produce navigation meshes that are tightly coupled to the original geometry, incorporate geometric details that are crucial for movement decisions and can robustly handle complex surfaces. The method is integrated into a standard navigation and collision-avoidance system to simulate thousands of agents on complex 3D surfaces in real-time.