2 papers
cs.RO2026
Task-Conditioned Uncertainty Costmaps for Legged Locomotion
Kartikeya Singh, Christo Aluckal, Romeo Orsolino +1
Legged robots maintain dynamic feasibility through multicontact interactions with terrain. Learned foothold prediction can provide feasibility-aware costs for motion planning and p…
cs.RO2024
TERA: A Simulation Environment for Terrain Excavation Robot Autonomy
Christo Aluckal, Roopesh Vinodh Kumar Lal, Sean Courtney +5
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the…