4 papers
Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving
Zehan Zhang, Neng Zhang, Yaoyi Li +2
Learning-based motion planners, despite recent progress, often suffer from temporal inconsistency. Small perturbations across frames can accumulate into unstable trajectories, degr…
RoVerFly: Robust and Versatile Implicit Hybrid Control of Quadrotor-Payload Systems
Mintae Kim, Jiaze Cai, Koushil Sreenath
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-sus…
Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams
Zhi Su, Yuman Gao, Emily Lukas +8
Achieving coordinated teamwork among legged robots requires both fine-grained locomotion control and long-horizon strategic decision-making. Robot soccer offers a compelling testbe…
Learning-based Trajectory Tracking for Bird-inspired Flapping-Wing Robots
Jiaze Cai, Vishnu Sangli, Mintae Kim +1
Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to…