25 citations · 37 across the 25 of their papers we have counts for
5 papers · 1 filter
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…
GrASPE: Graph based Multimodal Fusion for Robot Navigation in Unstructured Outdoor Environments
Kasun Weerakoon, Adarsh Jagan Sathyamoorthy, Jing Liang +3
We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from a…
AdaptiveON: Adaptive Outdoor Local Navigation Method For Stable and Reliable Actions
Jing Liang, Kasun Weerakoon, Tianrui Guan +2
We present a novel outdoor navigation algorithm to generate stable and efficient actions to navigate a robot to reach a goal. We use a multi-stage training pipeline and show that o…
TerraPN: Unstructured Terrain Navigation using Online Self-Supervised Learning
Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Tianrui Guan +2
We present TerraPN, a novel method that learns the surface properties (traction, bumpiness, deformability, etc.) of complex outdoor terrains directly from robot-terrain interaction…