相关论文: VI-IKD: High-Speed Accurate Off-Road Navigation us…

This paper aims to improve the path quality and computational efficiency of kinodynamic planners used for vehicular systems. It proposes a learning framework for identifying promising controls during the expansion process of sampling-based…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…

In this paper we present an on-manifold sequence-to-sequence learning approach to motion estimation using visual and inertial sensors. It is to the best of our knowledge the first end-to-end trainable method for visual-inertial odometry…

This work casts the kinodynamic planning problem for car-like vehicles as an optimization task to compute a minimum-time trajectory and its associated velocity profile, subject to boundary conditions on velocity, acceleration, and steering.…

Despite the good results that have been achieved in unimodal segmentation, the inherent limitations of individual data increase the difficulty of achieving breakthroughs in performance. For that reason, multi-modal learning is increasingly…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

Virtual reality (VR) teleoperation has emerged as a promising approach for controlling humanoid robots in complex manipulation tasks. However, traditional teleoperation systems rely on inverse kinematics (IK) solvers and hand-tuned PD…

All-day and all-weather navigation is a critical capability for autonomous driving, which requires proper reaction to varied environmental conditions and complex agent behaviors. Recently, with the rise of deep learning, end-to-end control…

Reinforcement learning can enable robots to navigate to distant goals while optimizing user-specified reward functions, including preferences for following lanes, staying on paved paths, or avoiding freshly mowed grass. However, online…

This paper proposes a novel data-driven approach for inertial navigation, which learns to estimate trajectories of natural human motions just from an inertial measurement unit (IMU) in every smartphone. The key observation is that human…

Inverse Kinematics (IK) is to find the robot's configurations that satisfy the target pose of the end effector. In motion planning, diverse configurations were required in case a feasible trajectory was not found. Meanwhile, collision…

This paper proposes a genetic algorithm-based kinodynamic planning algorithm (GAKD) for car-like vehicles navigating uneven terrains modeled as triangular meshes. The algorithm's distinct feature is trajectory optimization over a…

Learning models of dynamical systems with external inputs, which may be, for example, nonsmooth or piecewise, is crucial for studying complex phenomena and predicting future state evolution, which is essential for applications such as…

Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…

We present the KinoDynamic Motion Retargeting (KDMR) framework, a novel approach for humanoid locomotion that models the retargeting process as a multi-contact, whole-body trajectory optimization problem. Conventional kinematics-based…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…

This paper presents an efficient learning-based method to solve the inverse kinematic (IK) problem on soft robots with highly non-linear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of…