9 citations · 9 across the 17 of their papers we have counts for
17 papers
Demonstration Synthesis from a Single Scan via Gaussian Splatting for Visuomotor Policy Learning
Beichen Wang, Yuen-Hei Yeung, V. R. Sridhar Devarakonda +1
Training a visuomotor policy calls for abundant demonstrations that closely match the target environment, yet collecting them anew remains expensive. Existing demonstration synthes…
Learning Scene-Aware Humanoid Locomotion through 3D Clutter from Immersive Human Demonstrations
Beichen Wang, Tong Xu, Daniel Kosukhin +3
While learning from human motions has enabled highly dynamic humanoid skills such as dancing and martial arts in obstacle-free space, traversal through densely cluttered environmen…
CAVE-NAV: VLM-Based Autonomous 3D Navigation in Underwater Cave Environments
Zhenqi Wu, Yuanjie Lu, Yisheng Zhang +4
Autonomous navigation in underwater cave environments is essential for search-and-rescue operations, scientific exploration, and emergency egress. Traditional navigation systems co…
Balancing Accuracy and Efficiency: Adaptive Dynamics Orchestration for Model Predictive Control
Francesco Cancelliere, Aniket Datar, Giovanni Muscato +1
Model Predictive Control (MPC) for autonomous navigation faces a fundamental trade-off between model accuracy and real-time efficiency. High-fidelity dynamics models can accurately…
Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels
Amir Hossain Raj, Dibyendu Das, Xuesu Xiao
Quadruped robots demonstrate exceptional potential for navigating complex terrain in critical applications such as search and rescue missions and infrastructure inspection However…
Multi-robot Graph Traversal with Support Coordination under Stochastically Moving Adversaries
Manshi Limbu, Xuan Wang, Gregory J. Stein +2
Cooperative multi-robot missions require team of robots to traverse environments where adversaries or hazards with stochastic dynamics induce time-varying traversal risk. While sup…
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…
Fire as a Service: Augmenting Robot Simulators with Thermally and Visually Accurate Fire Dynamics
Anton R. Wagner, Madhan Balaji Rao, Helge Wrede +2
Most existing robot simulators prioritize rigid-body dynamics and photorealistic rendering, but largely neglect the thermally and optically complex phenomena that characterize real…
MorFiC: Fixing Value Miscalibration for Zero-Shot Quadruped Transfer
Prakhar Mishra, Amir Hossain Raj, Xuesu Xiao +1
Generalizing learned locomotion policies across quadrupedal robots with different morphologies remains a challenge. Policies trained on a single robot often fail when deployed on e…
APPLV: Adaptive Planner Parameter Learning from Vision-Language-Action Model
Yuanjie Lu, Beichen Wang, Zhengqi Wu +4
Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-spec…
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…
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…
Multi-Goal Motion Memory
Yuanjie Lu, Dibyendu Das, Erion Plaku +1
Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse…
Motion Memory: Leveraging Past Experiences to Accelerate Future Motion Planning
Dibyendu Das, Yuanjie Lu, Erion Plaku +1
When facing a new motion-planning problem, most motion planners solve it from scratch, e.g., via sampling and exploration or starting optimization from a straight-line path. Howeve…