2 citations · 8 across the 14 of their papers we have counts for
15 papers
DeFM: Learning Foundation Representations from Depth for Robotics
Manthan Patel, Jonas Frey, Mayank Mittal +5
Depth sensors are widely deployed across robotic platforms, and advances in fast, high-fidelity depth simulation have enabled robotic policies trained on depth observations to achi…
SAHA: Supervised Autonomous HArvester for selective forest thinning
Fang Nan, Meher Malladi, Qingqing Li +7
Forestry plays a vital role in our society, creating significant ecological, economic, and recreational value. Efficient forest management involves labor-intensive and complex oper…
Agile and Generalized Legged Locomotion via Attention-Based Neural Map Encoding
Chong Zhang, Victor Klemm, Fan Yang +1
Achieving agile and generalized legged locomotion across terrains requires tight integration of perception and control, especially under occlusions and sparse footholds. Existing m…
What Matters in RL-Based Methods for Object-Goal Navigation? An Empirical Study and A Unified Framework
Hongze Wang, Boyang Sun, Jiaxu Xing +5
Object-Goal Navigation (ObjectNav) is a key capability for deploying mobile robots in everyday environments such as homes, schools, and workplaces. In this task, an agent must loca…
Spatially-Enhanced Recurrent Memory for Long-Range Mapless Navigation via End-to-End Reinforcement Learning
Fan Yang, Per Frivik, David Hoeller +3
Recent advancements in robot navigation, particularly with end-to-end learning approaches such as reinforcement learning (RL), have demonstrated strong performance. However, succes…
TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation
Manthan Patel, Fan Yang, Yuheng Qiu +4
We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in va…
Representation Convergence: Mutual Distillation is Secretly a Form of Regularization
Zhengpeng Xie, Jiahang Cao, Changwei Wang +5
In this paper, we argue that mutual distillation between reinforcement learning policies serves as an implicit regularization, preventing them from overfitting to irrelevant featur…
IN-Sight: Interactive Navigation through Sight
Philipp Schoch, Fan Yang, Yuntao Ma +3
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when…
Dynamic Throwing with Robotic Material Handling Machines
Lennart Werner, Fang Nan, Pol Eyschen +3
Automation of hydraulic material handling machinery is currently limited to semi-static pick-and-place cycles. Dynamic throwing motions which utilize the passive joints, can greatl…
Motion Primitives Planning For Center-Articulated Vehicles
Jiangpeng Hu, Fan Yang, Fang Nan +1
Autonomous navigation across unstructured terrains, including forests and construction areas, faces unique challenges due to intricate obstacles and the element of the unknown. Lac…
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Matías Mattamala, Jonas Frey, Piotr Libera +5
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
RoadRunner -- Learning Traversability Estimation for Autonomous Off-road Driving
Jonas Frey, Manthan Patel, Deegan Atha +7
Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme condition…
Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue
Guido Caccianiga, Julian Nubert, Marco Hutter +1
New sensing technologies and more advanced processing algorithms are transforming computer-integrated surgery. While researchers are actively investigating depth sensing and 3D rec…
ViPlanner: Visual Semantic Imperative Learning for Local Navigation
Pascal Roth, Julian Nubert, Fan Yang +2
Real-time path planning in outdoor environments still challenges modern robotic systems due to differences in terrain traversability, diverse obstacles, and the necessity for fast…
PyPose v0.6: The Imperative Programming Interface for Robotics
Zitong Zhan, Xiangfu Li, Qihang Li +33
PyPose is an open-source library for robot learning. It combines a learning-based approach with physics-based optimization, which enables seamless end-to-end robot learning. It has…