Learning robust autonomous navigation and locomotion for wheeled-legged robots
Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …
improving operational efficiency and adaptability in urban environments. Navigating urban …
Learning to model and plan for wheeled mobility on vertically challenging terrain
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D
planar workspaces can be divided into free spaces and obstacles. However, recent wheeled …
planar workspaces can be divided into free spaces and obstacles. However, recent wheeled …
Pronav: Proprioceptive traversability estimation for legged robot navigation in outdoor environments
We propose a novel method, ProNav, which uses proprioceptive signals for traversability
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …
estimation in challenging outdoor terrains for autonomous legged robot navigation. Our …
Agile but safe: Learning collision-free high-speed legged locomotion
Legged robots navigating cluttered environments must be jointly agile for efficient task
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
execution and safe to avoid collisions with obstacles or humans. Existing studies either …
RoadRunner--Learning Traversability Estimation for Autonomous Off-road Driving
Autonomous navigation at high speeds in off-road environments necessitates robots to
comprehensively understand their surroundings using onboard sensing only. The extreme …
comprehensively understand their surroundings using onboard sensing only. The extreme …
Robust quadrupedal locomotion via risk-averse policy learning
The robustness of legged locomotion is crucial for quadrupedal robots in challenging
terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged …
terrains. Recently, Reinforcement Learning (RL) has shown promising results in legged …
Resilient legged local navigation: Learning to traverse with compromised perception end-to-end
Autonomous robots must navigate reliably in unknown environments even under
compromised exteroceptive perception, or perception failures. Such failures often occur …
compromised exteroceptive perception, or perception failures. Such failures often occur …
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End
Autonomous robots must navigate reliably in unknown environments even under
compromised exteroceptive perception, or perception failures. Such failures often occur …
compromised exteroceptive perception, or perception failures. Such failures often occur …
TRG-Planner: Traversal Risk Graph-Based Path Planning in Unstructured Environments for Safe and Efficient Navigation
Unstructured environments such as mountains, caves, construction sites, or disaster areas
are challenging for autonomous navigation because of terrain irregularities. In particular, it is …
are challenging for autonomous navigation because of terrain irregularities. In particular, it is …
Robot Navigation Using Physically Grounded Vision-Language Models in Outdoor Environments
We present a novel autonomous robot navigation algorithm for outdoor environments that is
capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav …
capable of handling diverse terrain traversability conditions. Our approach, VLM-GroNav …