From the 1 of 21 linked papers with an AI index.
21 papers
IBPA: Real-time Free-form Manifold Mesh Reconstruction via Incremental Ball Pivoting with Integrated Hole Detection
Mauhing Yip, Mohit Singh, Kostas Alexis +2
The paper presents Incremental BPA (IBPA), an algorithm that builds a manifold mesh in real time from streaming underwater point clouds, adding a hole detection step to highlight m…
Embodiment-conditioned Generalist Control for Multirotor Aerial Robots
Orestis Konstantaropoulos, Welf Rehberg, Mihir Kulkarni +1
We present a generalist position control policy capable of controlling arbitrary multirotor configurations of a certain rotor count (e.g., hexarotors or quadrotors) with a single s…
Generalization of World Models under Environmental Variability for Vision-based Quadrotor Navigation
Luca Zanatta, Grzegorz Malczyk, Kostas Alexis
World models, learned generative models that predict how an environment evolves, have become a promising tool for sample-efficient robot learning. Yet how robust they are to enviro…
Towards Low-Gravity Planetary Exploration using Reinforcement Learning for Walking, Jumping, and In-flight Attitude Control
Jørgen Anker Olsen, Kostas Alexis
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar l…
OmniPlanner: Universal Exploration and Inspection Path Planning across Robot Morphologies
Angelos Zacharia, Mihir Dharmadhikari, Mohit Singh +1
Autonomous robotic systems are increasingly deployed for mapping, monitoring, and inspection in complex and unstructured environments. However, most existing path planning approach…
Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors through Physics-Aware Neural Architectures
Welf Rehberg, Mihir Kulkarni, Philipp Weiss +1
Efficiently training control policies for robots is a major challenge that can greatly benefit from utilizing knowledge gained from training similar systems through cross-embodimen…