5 papers
QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction
Max Asselmeier, Ye Zhao, Patricio A. Vela
This work proposes QuadPiPS, a perception-informed framework for quadrupedal foothold planning in the perception space. QuadPiPS employs a novel ego-centric local environment repre…
Dynamic Gap: Safe Gap-based Navigation in Dynamic Environments
Max Asselmeier, Dhruv Ahuja, Abdel Zaro +3
This paper extends the family of gap-based local planners to unknown dynamic environments through generating provable collision-free properties for hierarchical navigation systems.…
Efficient Iterative Proximal Variational Inference Motion Planning
Zinuo Chang, Hongzhe Yu, Patricio Vela +1
We cast motion planning under uncertainty as a stochastic optimal control problem, where the optimal posterior distribution has an explicit form. To approximate this posterior, thi…
Safe Gap-based Planning in Dynamic Settings
Max Asselmeier, Abdel Zaro, Dhruv Ahuja +2
This chapter extends the family of perception-informed gap-based local planners to dynamic environments. Existing perception-informed local planners that operate in dynamic environ…
OmniPose6D: Towards Short-Term Object Pose Tracking in Dynamic Scenes from Monocular RGB
Yunzhi Lin, Yipu Zhao, Fu-Jen Chu +6
To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mi…