相关论文: Online Hierarchical Policy Learning using Physics …

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…

Learning for robot navigation presents a critical and challenging task. The scarcity and costliness of real-world datasets necessitate efficient learning approaches. In this letter, we exploit Euclidean symmetry in planning for 2D…

Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

Swarm navigation in cluttered environments is a grand challenge in robotics. This work combines deep learning with first-principle physics through differentiable simulation to enable autonomous navigation of multiple aerial robots through…

Object manipulation skills are necessary for robots operating in various daily-life scenarios, ranging from warehouses to hospitals. They allow the robots to manipulate the given object to their desired arrangement in the cluttered…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

This paper introduces a graph-based, potential-guided method for path planning problems in unknown environments, where obstacles are unknown until the robots are in close proximity to the obstacle locations. Inspired by optimal transport…

Robot planning is the process of selecting a sequence of actions that optimize for a task specific objective. The optimal solutions to such tasks are heavily influenced by the implicit structure in the environment, i.e. the configuration of…

Mobile robot navigation in complex and dynamic environments is a challenging but important problem. Reinforcement learning approaches fail to solve these tasks efficiently due to reward sparsities, temporal complexities and…

Offline Reinforcement Learning (RL) has emerged as a powerful alternative to imitation learning for behavior modeling in various domains, particularly in complex navigation tasks. An existing challenge with Offline RL is the signal-to-noise…

Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…

This paper addresses the problem of robot navigation in mixed geometric/semantic 3D environments. Given a hierarchical representation of the environment, the objective is to navigate from a start position to a goal, while satisfying…

In order for an autonomous robot to efficiently explore an unknown environment, it must account for uncertainty in sensor measurements, hazard assessment, localization, and motion execution. Making decisions for maximal reward in a…

The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…

Long-range navigation is commonly addressed through hierarchical pipelines in which a global planner generates a path, decomposed into waypoints, and followed sequentially by a local planner. These systems are sensitive to global path…

Exploration systems are critical for enhancing the autonomy of robots. Due to the unpredictability of the future planning space, existing methods either adopt an inefficient greedy strategy or require a lot of resources to obtain a global…

While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…

Deep reinforcement learning has great potential to acquire complex, adaptive behaviors for autonomous agents automatically. However, the underlying neural network polices have not been widely deployed in real-world applications, especially…