相关论文: Generative Planning with Fast Collision Checks for…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

A normalizing flow is an invertible mapping between an arbitrary probability distribution and a standard normal distribution; it can be used for density estimation and statistical inference. Computing the flow follows the change of…

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments…

Robot path planning model based on RNN and visual quality evaluation in the context of crowds is analyzed in this paper. Mobile robot path planning is the key to robot navigation and an important field in robot research. Let the motion…

Generative planners based on flow matching (FM) produce high-quality paths in a single or a few ODE steps, but their sampling dynamics offer no formal safety guarantees and can yield incomplete paths near constraints. We present…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

This research delves into advanced route optimization for robots in smart logistics, leveraging a fusion of Transformer architectures, Graph Neural Networks (GNNs), and Generative Adversarial Networks (GANs). The approach utilizes a…

MPC (Model predictive control)-based motion planning and trajectory generation are essential in applications such as unmanned aerial vehicles, robotic manipulators, and rocket control. However, the real-time implementation of such…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Learning-based path planning is becoming a promising robot navigation methodology due to its adaptability to various environments. However, the expensive computing and storage associated with networks impose significant challenges for their…

High-speed trajectory planning through unknown environments requires algorithmic techniques that enable fast reaction times while maintaining safety as new information about the operating environment is obtained. The requirement of…

Motion planning for robots of high degrees-of-freedom (DOFs) is an important problem in robotics with sampling-based methods in configuration space C as one popular solution. Recently, machine learning methods have been introduced into…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial to any robot control stack. Collision checking takes up a…

The development of safety validation methods is essential for the safe deployment and operation of Automated Driving Systems (ADSs). One of the goals of safety validation is to prospectively evaluate the risk of an ADS dealing with…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Notably, current intelligent transportation systems rely heavily on accurate traffic forecasting and swift inference provision to make timely decisions. While Graph Convolutional Networks (GCNs) have shown benefits in modeling complex…

Planning is a critical component of end-to-end autonomous driving. However, prevailing imitation learning methods often suffer from mode collapse, failing to produce diverse trajectory hypotheses. Meanwhile, existing generative approaches…

This letter presents a novel coarse-to-fine motion planning framework for robotic manipulation in cluttered, unmodeled environments. The system integrates a dual-camera perception setup with a B-spline-based model predictive control (MPC)…

Robot swarm is a hot spot in robotic research community. In this paper, we propose a decentralized framework for car-like robotic swarm which is capable of real-time planning in cluttered environments. In this system, path finding is guided…