相关论文: Learning an Efficient Terrain Representation for H…

Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…

Legged robots that can operate autonomously in remote and hazardous environments will greatly increase opportunities for exploration into under-explored areas. Exteroceptive perception is crucial for fast and energy-efficient locomotion:…

Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…

Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…

Mobile robots operating in unknown urban environments encounter a wide range of complex terrains to which they must adapt their planned trajectory for safe and efficient navigation. Most existing approaches utilize supervised learning to…

Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…

Representation learning and unsupervised skill discovery can allow robots to acquire diverse and reusable behaviors without the need for task-specific rewards. In this work, we use unsupervised reinforcement learning to learn a latent…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

Deep representation learning using triplet network for classification suffers from a lack of theoretical foundation and difficulty in tuning both the network and classifiers for performance. To address the problem, local-margin triplet loss…

Imitation learning is a popular approach for training visual navigation policies. However, collecting expert demonstrations for legged robots is challenging as these robots can be hard to control, move slowly, and cannot operate…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

This work reports on developing a deep inverse reinforcement learning method for legged robots terrain traversability modeling that incorporates both exteroceptive and proprioceptive sensory data. Existing works use robot-agnostic…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

Multi-legged robots offer enhanced stability to navigate complex terrains with their multiple legs interacting with the environment. However, how to effectively coordinate the multiple legs in a larger action exploration space to generate…

Quadrupedal mobile robots can traverse a wider range of terrain types than their wheeled counterparts but do not perform the same on all terrain types. These robots are prone to undesirable behaviours like sinking and slipping on…

Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…

Place recognition is critical for both offline mapping and online localization. However, current single-sensor based place recognition still remains challenging in adverse conditions. In this paper, a heterogeneous measurements based…