相关论文: Complex Terrain Navigation via Model Error Predict…

We investigate the scenario that a robot needs to reach a designated goal after taking a sequence of appropriate actions in a non-static environment that is partially structured. One application example is to control a marine vehicle to…

In this paper, we consider the problem of building learning agents that can efficiently learn to navigate in constrained environments. The main goal is to design agents that can efficiently learn to understand and generalize to different…

As mobile robots find increasing use in outdoor applications, designing energy-efficient robot navigation algorithms is gaining importance. There are two primary approaches to energy efficient navigation: Offline approaches rely on a…

Legged navigation is typically examined within open-world, off-road, and challenging environments. In these scenarios, estimating external disturbances requires a complex synthesis of multi-modal information. This underlines a major…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

This paper proposes an approach that predicts the road course from camera sensors leveraging deep learning techniques. Road pixels are identified by training a multi-scale convolutional neural network on a large number of full-scene-labeled…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each instruction can include multiple…

Autonomous navigation in off-road conditions requires an accurate estimation of terrain traversability. However, traversability estimation in unstructured environments is subject to high uncertainty due to the variability of numerous…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…

Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and…

This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the…