相关论文: [Re] Differentiable Spatial Planning using Transfo…

Nearly all spatial reasoning problems involve uncertainty of one sort or another. Uncertainty arises due to the inaccuracies of sensors used in measuring distances and angles. We refer to this as directional uncertainty. Uncertainty also…

A cognitive map is an internal model which encodes the abstract relationships among entities in the world, giving humans and animals the flexibility to adapt to new situations, with a strong out-of-distribution (OOD) generalization that…

This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

Coverage path planning is a well-studied problem in robotics in which a robot must plan a path that passes through every point in a given area repeatedly, usually with a uniform frequency. To address the scenario in which some points need…

In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…

Transformer model architectures have garnered immense interest lately due to their effectiveness across a range of domains like language, vision and reinforcement learning. In the field of natural language processing for example,…

Differentiable rendering is a technique to connect 3D scenes with corresponding 2D images. Since it is differentiable, processes during image formation can be learned. Previous approaches to differentiable rendering focus on mesh-based…

While transformers excel in many settings, their application in the field of automated planning is limited. Prior work like PlanGPT, a state-of-the-art decoder-only transformer, struggles with extrapolation from easy to hard planning…

In this work, we study the problem of how to leverage instructional videos to facilitate the understanding of human decision-making processes, focusing on training a model with the ability to plan a goal-directed procedure from real-world…

In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Constrained robot motion planning is a ubiquitous need for robots interacting with everyday environments, but it is a notoriously difficult problem to solve. Many sampled points in a sample-based planner need to be rejected as they fall…

Centralized approaches for multi-robot coverage planning problems suffer from the lack of scalability. Learning-based distributed algorithms provide a scalable avenue in addition to bringing data-oriented feature generation capabilities to…

Deep functional maps have emerged in recent years as a prominent learning-based framework for non-rigid shape matching problems. While early methods in this domain only focused on learning in the functional domain, the latest techniques…

Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…

Autonomous driving has traditionally relied heavily on costly and labor-intensive High Definition (HD) maps, hindering scalability. In contrast, Standard Definition (SD) maps are more affordable and have worldwide coverage, offering a…

Using programmable network devices to aid in-network machine learning has been the focus of significant research. However, most of the research was of a limited scope, providing a proof of concept or describing a closed-source algorithm. To…

This paper investigates the high-level decision-making problem in highway scenarios regarding lane changing and over-taking other slower vehicles. In particular, this paper aims to improve the Travel Assist feature for automatic overtaking…

The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…