相关论文: GeoPF: Infusing Geometry into Potential Fields for…
Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…
Recent advances in Neural Fields mostly rely on developing task-specific supervision which often complicates the models. Rather than developing hard-to-combine and specific modules, another approach generally overlooked is to directly…
We propose scene-adaptive strategies to efficiently allocate representation capacity for generating immersive experiences of indoor environments from incomplete observations. Indoor scenes with multiple rooms often exhibit irregular layouts…
Increase in the number of space exploration missions has led to the accumulation of space debris, posing risk of collision with the operational satellites. Addressing this challenge is crucial for the sustainability of space operations. To…
Generative models have shown promising results in capturing human mobility characteristics and generating synthetic trajectories. However, it remains challenging to ensure that the generated geospatial mobility data is semantically…
We study the iterative refinement of path planning for multiple robots, known as multi-agent pathfinding (MAPF). Given a graph, agents, their initial locations, and destinations, a solution of MAPF is a set of paths without collisions.…
Geometric methods for solving open-world off-road navigation tasks, by learning occupancy and metric maps, provide good generalization but can be brittle in outdoor environments that violate their assumptions (e.g., tall grass).…
Reasoning about large numbers of diverse plans to achieve high speed navigation in cluttered environments remains a challenge for robotic systems even in the case of perfect perceptual information. Often, this is tackled by methods that…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Robots struggle to understand object properties like shape, material, and semantics due to limited prior knowledge, hindering manipulation in unstructured environments. In contrast, humans learn these properties through interactive…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
Grasping has been a long-standing challenge in facilitating the final interface between a robot and the environment. As environments and tasks become complicated, the need to embed higher intelligence to infer from the surroundings and act…
Path planning is critical for autonomous vehicles (AVs) to determine the optimal route while considering constraints and objectives. The potential field (PF) approach has become prevalent in path planning due to its simple structure and…
Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex nonlinear relationships between tasks. In this paper, we develop a novel policy…
The correlation matrix is a central representation of functional brain networks in neuroimaging. Traditional analyses often treat pairwise interactions independently in a Euclidean setting, overlooking the intrinsic geometry of correlation…
We introduce a new generative approach for synthesizing 3D geometry and images from single-view collections. Most existing approaches predict volumetric density to render multi-view consistent images. By employing volumetric rendering using…
Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…
We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…