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cs.RO2025
aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search
Tanmay P. Patel, Connor Wilson, Ellina R. Zhang +4
This paper presents aUToPath, a unified online framework for global path-planning and control to address the challenge of autonomous navigation in cluttered urban environments. A k…
cs.RO2024
Gaussian Splatting Visual MPC for Granular Media Manipulation
Wei-Cheng Tseng, Ellina Zhang, Krishna Murthy Jatavallabhula +1
Recent advancements in learned 3D representations have enabled significant progress in solving complex robotic manipulation tasks, particularly for rigid-body objects. However, man…