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

Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…

We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent space. Each latent vector is learned to decode to the 3D shape…

Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion…

This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from…

This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

Humanoid robots can, in principle, use their legs to go almost anywhere. Developing controllers capable of traversing diverse terrains, however, remains a considerable challenge. Classical controllers are hard to generalize broadly while…

Biologically inspired algorithms for simultaneous localization and mapping (SLAM) such as RatSLAM have been shown to yield effective and robust robot navigation in both indoor and outdoor environments. One drawback however is the…

LiDAR based place recognition is popular for loop closure detection and re-localization. In recent years, deep learning brings improvements to place recognition by learnable feature extraction. However, these methods degenerate when the…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

Robotic and animal mapping systems share many challenges and characteristics: they must function in a wide variety of environmental conditions, enable the robot or animal to navigate effectively to find food or shelter, and be…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…

Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…