5 papers
Feedback-Modulated Harmonic Policies for Quadruped Locomotion
Yixuan Jia, Steven Roche, Jonathan P. How
Learned quadruped locomotion policies commonly map observations directly to joint-level actions, leaving the periodic structure of locomotion implicit in the policy. We investigate…
Steering Generative Robot Policies with Lexicographic Preferences
Yixuan Jia, Jonathan P. How
Pretrained generative robot policies can produce effective behaviors across diverse environments, but deployment can lead to requirements and preferences that may not have been rep…
Navigation Around Unknown Space Objects Using Visible-Thermal Image Fusion
Eric J. Elias, Michael Esswein, Jonathan P. How +1
As the popularity of on-orbit operations grows, so does the need for precise navigation around unknown resident space objects (RSOs) such as other spacecraft, orbital debris, and a…
Off-Road Navigation via Implicit Neural Representation of Terrain Traversability
Yixuan Jia, Qingyuan Li, Jonathan P. How
Autonomous off-road navigation requires robots to estimate terrain traversability from onboard sensors and plan motion accordingly. Conventional approaches typically rely on sampli…
Efficient Navigation in Unknown Indoor Environments with Vision-Language Models
D. Schwartz, K. Kondo, J. P. How
We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. T…