4 papers
Sensitivity Shaping for Latent Modeling
Hongzhan Yu, Chenghao Li, Ruipeng Zhang +2
Generative dynamics models enable planning in challenging robotic systems, but safe deployment requires reliably detecting policy-induced out-of-distribution (OOD) transitions. Exi…
GLIDE: A Coordinated Aerial-Ground Framework for Search and Rescue in Unknown Environments
Seth Farrell, Chenghao Li, Henrik I. Christensen
We present a cooperative aerial-ground search-and-rescue (SAR) framework that pairs two unmanned aerial vehicles (UAVs) with an unmanned ground vehicle (UGV) to achieve rapid victi…
Learning Quadruped Walking from Seconds of Demonstration
Ruipeng Zhang, Hongzhan Yu, Ya-Chien Chang +3
Quadruped locomotion provides a natural setting for understanding when model-free learning can outperform model-based control design, by exploiting data patterns to bypass the diff…
Safe Human Robot Navigation in Warehouse Scenario
Seth Farrell, Chenghao Li, Hongzhan Yu +3
The integration of autonomous mobile robots (AMRs) in industrial environments, particularly warehouses, has revolutionized logistics and operational efficiency. However, ensuring t…