11 papers
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua +3
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing the capabilities of robot algorithms. While aerial robotics simulators have evolved…
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Francesco D'Orazio, Sepehr Samavi, Xintong Du +3
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Xintong Du, Siqi Zhou, Angela P. Schoellig
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at t…
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Xintong Du, Jingxing Qian, Siqi Zhou +1
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion…
SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time sa…
Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
Benjamin Bogenberger, Oliver Harrison, Orrin Dahanaggamaarachchi +4
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform…