3 papers
cs.RO2025
A Monocular Event-Camera Motion Capture System
Leonard Bauersfeld, Davide Scaramuzza
Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangul…
cs.RO2024
Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation
Jing Yuan Luo, Yunlong Song, Victor Klemm +3
First-order Policy Gradient (FoPG) algorithms such as Backpropagation through Time and Analytical Policy Gradients leverage local simulation physics to accelerate policy search, si…
cs.RO2024
Structure-Invariant Range-Visual-Inertial Odometry
Ivan Alberico, Jeff Delaune, Giovanni Cioffi +1
The Mars Science Helicopter (MSH) mission aims to deploy the next generation of unmanned helicopters on Mars, targeting landing sites in highly irregular terrain such as Valles Mar…