6 papers
Forecast-Aware Cooperative Planning on Temporal Graphs under Stochastic Adversarial Risk
Manshi Limbu, Xuan Wang, Gregory J. Stein +2
Cooperative multi-robot missions often require teams of robots to traverse environments where traversal risk evolves due to adversary patrols or shifting hazards with stochastic dy…
CORAL: COntextual Reasoning And Local Planning in A Hierarchical VLM Framework for Underwater Monitoring
Zhenqi Wu, Yuanjie Lu, Xuesu Xiao +1
Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requi…
TransCurriculum: Multi-Dimensional Curriculum Learning for Fast & Stable Locomotion
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
High-speed legged locomotion struggles with stability and transfer losses at higher command velocities during deployment. One reason is that most curricula vary difficulty along si…
Moving Through Clutter: Scaling Data Collection and Benchmarking for 3D Scene-Aware Humanoid Locomotion via Virtual Reality
Beichen Wang, Yuanjie Lu, Linji Wang +2
Recent advances in humanoid locomotion have enabled dynamic behaviors such as dancing, martial arts, and parkour, yet these capabilities are predominantly demonstrated in open, fla…
Reward Training Wheels: Adaptive Auxiliary Rewards for Robotics Reinforcement Learning
Linji Wang, Tong Xu, Yuanjie Lu +1
Robotics Reinforcement Learning (RL) often relies on carefully engineered auxiliary rewards to supplement sparse primary learning objectives to compensate for the lack of large-sca…
Decremental Dynamics Planning for Robot Navigation
Yuanjie Lu, Tong Xu, Linji Wang +2
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, curren…