Abstract: Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths to the goal, such as disaster zones or cluttered warehouses. To address this problem, we propose AINav, an adaptive … [Read more...] about Vision-Based Policy Learning for High-Speed Autonomous Racing: A Two-Phase Learning Paradigm
Planning
Vision-Based Policy Learning for High-Speed Autonomous Racing: A Two-Phase Learning Paradigm
Abstract: Motion planning for autonomous vision-based car racing is a challenging task in robotics. Classical racing systems divide the task into numerous submodules, undermining computational efficiency and leading to error propagation. Previous studies have demonstrated impressive reinforcement learning (RL) results for end-to-end autonomous driving. However, RL exhibits … [Read more...] about Vision-Based Policy Learning for High-Speed Autonomous Racing: A Two-Phase Learning Paradigm
Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks: Gripper Design Boosts Learning
Abstract: In this work, we investigate how a state-of-the-art grasp planner based on deep reinforcement learning performs when applied to a soft–rigid gripper in a decluttering task. The gripper, called Soft ScoopGripper (SSG), is endowed with a rigid scoop-shaped part that facilitates the interaction with the environment and with objects. We hypothesize that the clever … [Read more...] about Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks: Gripper Design Boosts Learning
Enhancing Campus Mobility: Achievements and Challenges of the Snow Lion Autonomous Shuttle
In recent years, the rapid evolution of autonomous vehicles (AVs) has reshaped global transportation systems, leading to an increase in autonomous shuttle applications in people’s daily lives. Leveraging the accomplishments of our earlier endeavor, particularly Hercules (Liu et al., 2021), an autonomous logistics vehicle for transporting goods, we introduce Snow Lion, an … [Read more...] about Enhancing Campus Mobility: Achievements and Challenges of the Snow Lion Autonomous Shuttle
Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
“What can your humanoid robot do?” is probably the most commonly asked question that we, as roboticists, have to answer when interacting with the general public. Often, the question is framed in the familiar household or office setting, with implied expectations of robust locomotion on uneven and cluttered terrain and compliant interaction with people, objects, and the … [Read more...] about Motion Planning for Humanoid Locomotion: Applications to Homelike Environments
