4 papers · 1 filter
Push Smarter, Not Harder: Hierarchical RL-Diffusion Policy for Efficient Nonprehensile Manipulation
Steven Caro, Stephen L. Smith
Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning…
Bench-NPIN: Benchmarking Non-prehensile Interactive Navigation
Ninghan Zhong, Steven Caro, Avraiem Iskandar +2
Mobile robots are increasingly deployed in unstructured environments where obstacles and objects are movable. Navigation in such environments is known as interactive navigation, wh…
AUTO-IceNav: A Local Navigation Strategy for Autonomous Surface Ships in Broken Ice Fields
Rodrigue de Schaetzen, Alexander Botros, Ninghan Zhong +3
Ice conditions often require ships to reduce speed and deviate from their main course to avoid damage to the ship. In addition, broken ice fields are becoming the dominant ice cond…
Autonomous Navigation in Ice-Covered Waters with Learned Predictions on Ship-Ice Interactions
Ninghan Zhong, Alessandro Potenza, Stephen L. Smith
Autonomous navigation in ice-covered waters poses significant challenges due to the frequent lack of viable collision-free trajectories. When complete obstacle avoidance is infeasi…