5 papers
Multi-Floor Exploration for Ground Robots via an Incremental Reachable Graph and Structural Priors
Zhiwen Zhu, Jiaqi Chen, Xiangyi Huang +2
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such a…
Learning Spatial-Aware Manipulation Ordering
Yuxiang Yan, Zhiyuan Zhou, Xin Gao +5
Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existi…
Offline vs. Online Learning in Model-based RL: Lessons for Data Collection Strategies
Jiaqi Chen, Ji Shi, Cansu Sancaktar +2
Data collection is crucial for learning robust world models in model-based reinforcement learning. The most prevalent strategies are to actively collect trajectories by interacting…
Multimodal Fused Learning for Solving the Generalized Traveling Salesman Problem in Robotic Task Planning
Jiaqi Cheng, Mingfeng Fan, Xuefeng Zhang +4
Effective and efficient task planning is essential for mobile robots, especially in applications like warehouse retrieval and environmental monitoring. These tasks often involve se…
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…