25 citations · 28 across the 5 of their papers we have counts for
6 papers
WGICP: Differentiable Weighted GICP-Based Lidar Odometry
Sanghyun Son, Jing Liang, Ming Lin +1
We present a novel differentiable weighted generalized iterative closest point (WGICP) method applicable to general 3D point cloud data, including that from Lidar. Our method build…
MSVIPER: Improved Policy Distillation for Reinforcement-Learning-Based Robot Navigation
Aaron M. Roth, Jing Liang, Ram Sriram +2
We present Multiple Scenario Verifiable Reinforcement Learning via Policy Extraction (MSVIPER), a new method for policy distillation to decision trees for improved robot navigation…
XAI-N: Sensor-based Robot Navigation using Expert Policies and Decision Trees
Aaron M. Roth, Jing Liang, Dinesh Manocha
We present a novel sensor-based learning navigation algorithm to compute a collision-free trajectory for a robot in dense and dynamic environments with moving obstacles or targets.…
Autonomous Social Distancing in Urban Environments using a Quadruped Robot
Tingxiang Fan, Zhiming Chen, Xuan Zhao +5
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19.…
Realtime Collision Avoidance for Mobile Robots in Dense Crowds using Implicit Multi-sensor Fusion and Deep Reinforcement Learning
Jing Liang, Utsav Patel, Adarsh Jagan Sathyamoorthy +1
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses mult…
DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviors
Adarsh Jagan Sathyamoorthy, Jing Liang, Utsav Patel +3
We present DenseCAvoid, a novel navigation algorithm for navigating a robot through dense crowds and avoiding collisions by anticipating pedestrian behaviors. Our formulation uses…