相关论文: GA-TEB: Goal-Adaptive Framework for Efficient Navi…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

We present an approach for mobile robots to learn to navigate in dynamic environments with pedestrians via raw depth inputs, in a socially compliant manner. To achieve this, we adopt a generative adversarial imitation learning (GAIL)…

Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

We present Nav2Goal, a data-efficient and end-to-end learning method for goal-conditioned visual navigation. Our technique is used to train a navigation policy that enables a robot to navigate close to sparse geographic waypoints provided…

Grasping in dense clutter is a fundamental skill for autonomous robots. However, the crowdedness and occlusions in the cluttered scenario cause significant difficulties to generate valid grasp poses without collisions, which results in low…

In Social Robot Navigation, autonomous agents need to resolve many sequential interactions with other agents. State-of-the art planners can efficiently resolve the next, imminent interaction cooperatively and do not focus on longer planning…

Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…

This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…

We build a theoretical framework for designing and understanding practical meta-learning methods that integrates sophisticated formalizations of task-similarity with the extensive literature on online convex optimization and sequential…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

In cluttered environments, motion planners often face a trade-off between safety and speed due to uncertainty caused by occlusions and limited sensor range. In this work, we investigate whether co-pilot instructions can help robots plan…

We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…