5 papers · 1 filter
Globalized Constrained Stein Variational Inference for Diverse Feasible Robot Motion Planning
Jiayun Li, Georgia Chalvatzaki
Robot motion planning is inherently multimodal, yet classical planners typically return only a single solution. Probabilistic formulations address this limitation by maintaining a…
IMPACT: An Implicit Active-Set Augmented Lagrangian for Fast Contact-Implicit Trajectory Optimization
Jiayun Li, Dejian Gong, Georgia Chalvatzaki
Contact-implicit trajectory optimization (CITO) has attracted growing attention as a unified framework for planning and control in contact-rich robotic tasks. Recent approaches hav…
Stein Variational Ergodic Surface Coverage with SE(3) Constraints
Jiayun Li, Yufeng Jin, Sangli Teng +2
Surface manipulation tasks require robots to generate trajectories that comprehensively cover complex 3D surfaces while maintaining precise end-effector poses. Existing ergodic tra…
Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
Yihan Zhou, Yiwen Lu, Bo Yang +2
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement…
Consecutive Inertia Drift of Autonomous RC Car via Primitive-based Planning and Data-driven Control
Yiwen Lu, Bo Yang, Jiayun Li +3
Inertia drift is an aggressive transitional driving maneuver, which is challenging due to the high nonlinearity of the system and the stringent requirement on control and planning…