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cs.RO2026
SRL-MPC: Shape-Aware Reinforcement Learned Model Predictive Control
Ruihua Han, Rui Gao, Zhe Liu +6
Safe and efficient shape-aware navigation in heterogeneous crowds and robot fleets remains challenging. Traditional approaches often assume homogeneous robots, sparse workspaces, s…
cs.RO2024
Seamless Virtual Reality with Integrated Synchronizer and Synthesizer for Autonomous Driving
He Li, Ruihua Han, Zirui Zhao +4
Virtual reality (VR) is a promising data engine for autonomous driving (AD). However, data fidelity in this paradigm is often degraded by VR inconsistency, for which the existing V…
cs.RO2024
NeuPAN: Direct Point Robot Navigation with End-to-End Model-based Learning
Ruihua Han, Shuai Wang, Shuaijun Wang +8
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents N…