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cs.RO2026
Sim-to-Real Transfer and Robustness Evaluation of Reinforcement Learning Control with Integrated Perception on an ASV for Floating Waste Capture
Luis F. W. Batista, Stéphanie Aravecchia, Cédric Pradalier
Autonomous surface vessels for floating-waste removal operate under varying hydrodynamics, external disturbances, and challenging water-surface perception. We present a field-valid…
cs.RO2025
Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping
Cedric Le Gentil, Cedric Pradalier, Timothy D. Barfoot
Occupancy mapping has been a key enabler of mobile robotics. Originally based on a discrete grid representation, occupancy mapping has evolved towards continuous representations th…
cs.RO2025
Guaranteed Reach-Avoid for Black-Box Systems through Narrow Gaps via Neural Network Reachability
Long Kiu Chung, Wonsuhk Jung, Srivatsank Pullabhotla +6
In the classical reach-avoid problem, autonomous mobile robots are tasked to reach a goal while avoiding obstacles. However, it is difficult to provide guarantees on the robot's pe…