4 citations · 4 across the 3 of their papers we have counts for
6 papers · 1 filter
PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching
Lei Ye, Haibo Gao, Peng Xu +7
Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on…
VLM-Empowered Multi-Mode System for Efficient and Safe Planetary Navigation
Sinuo Cheng, Ruyi Zhou, Wenhao Feng +4
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered mul…
Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
Haoyu Wang, Ruyi Zhou, Liang Ding +5
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of expl…
Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation
Jiaqi Chen, Jonas Frey, Ruyi Zhou +3
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and defor…
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Philip Arm, Gabriel Waibel, Jan Preisig +8
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-th…
Predicting Terrain Mechanical Properties in Sight for Planetary Rovers with Semantic Clues
Ruyi Zhou, Wenhao Feng, Huaiguang Yang +4
Non-geometric mobility hazards such as rover slippage and sinkage posing great challenges to costly planetary missions are closely related to the mechanical properties of terrain.…