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cs.RO2024
Morphological-Symmetry-Equivariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning
Fengze Xie, Sizhe Wei, Yue Song +2
We present a morphological-symmetry-equivariant heterogeneous graph neural network, namely MS-HGNN, for robotic dynamics learning, that integrates robotic kinematic structures and…
cs.RO2024
FetchBench: A Simulation Benchmark for Robot Fetching
Beining Han, Meenal Parakh, Derek Geng +3
Fetching, which includes approaching, grasping, and retrieving, is a critical challenge for robot manipulation tasks. Existing methods primarily focus on table-top scenarios, which…
cs.RO2024
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach
Skylar X. Wei, Lu Gan, Joel W. Burdick
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown…