Related papers: ASC: Adaptive Skill Coordination for Robotic Mobil…
Typical end-to-end formulations for learning robotic navigation involve predicting a small set of steering command actions (e.g., step forward, turn left, turn right, etc.) from images of the current state (e.g., a bird's-eye view of a SLAM…
Adaptive Cruise Control (ACC) is an Advanced Driver Assistance System (ADAS) that enables vehicle following with desired inter-vehicular distances. Cooperative Adaptive Cruise Control (CACC) is upgraded ACC that utilizes additional…
Modern robots can perform a wide range of simple tasks and adapt to diverse scenarios in the well-trained environment. However, deploying pre-trained robot models in real-world user scenarios remains challenging due to their limited…
Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…
Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…
Automatic Section Control (ASC) is a long-standing trend for spraying in agriculture. It promises to minimise spray overlap areas. The core idea is to (i) switch off spray nozzles on areas that have already been sprayed, and (ii) to…
Symmetry, a fundamental concept to understand our environment, often oversimplifies reality from a mathematical perspective. Humans are a prime example, deviating from perfect symmetry in terms of appearance and cognitive biases (e.g.…
Robotic solutions, in particular robotic arms, are becoming more frequently deployed for close collaboration with humans, for example in manufacturing or domestic care environments. These robotic arms require the user to control several…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
Building capable household and industrial robots requires mastering the control of versatile, high-degree-of-freedom (DoF) systems such as mobile manipulators. While reinforcement learning (RL) holds promise for autonomously acquiring robot…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Building a general-purpose intelligent home-assistant agent skilled in diverse tasks by human commands is a long-term blueprint of embodied AI research, which poses requirements on task planning, environment modeling, and object…
This paper addresses the motion control problem for mobile robots in obstacle-cluttered environments. The mobile robot has partial environment information only, and aims to move from an initial position to a target position without…
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control…
Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…
We present a novel redirected walking controller based on alignment that allows the user to explore large and complex virtual environments, while minimizing the number of collisions with obstacles in the physical environment. Our…
By 2050, the global demand for assistive care is expected to reach 3.5 billion people, far outpacing the availability of human caregivers. Existing robotic solutions remain expensive and require technical expertise, limiting accessibility.…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
Articulated object manipulation is a critical capability for robots to perform various tasks in real-world scenarios. Composed of multiple parts connected by joints, articulated objects are endowed with diverse functional mechanisms through…
Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…