4 papers
Feasibility-Guided Planning over Multi-Specialized Locomotion Policies
Ying-Sheng Luo, Lu-Ching Wang, Hanjaya Mandala +6
Planning over unstructured terrain presents a significant challenge in the field of legged robotics. Although recent works in reinforcement learning have yielded various locomotion…
Benchmarking Smoothness and Reducing High-Frequency Oscillations in Continuous Control Policies
Guilherme Christmann, Ying-Sheng Luo, Hanjaya Mandala +1
Reinforcement learning (RL) policies are prone to high-frequency oscillations, especially undesirable when deploying to hardware in the real-world. In this paper, we identify, cate…
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
Xuesu Xiao, Zifan Xu, Garrett Warnell +8
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, UK and continu…
The BARN Challenge 2023 -- Autonomous Navigation in Highly Constrained Spaces -- Inventec Team
Hanjaya Mandala, Guilherme Christmann
Navigation in the real-world is hard and filled with complex scenarios. The Benchmark Autonomous Robot Navigation (BARN) Challenge is a competition that focuses on highly constrain…