4 papers
HiPAN: Hierarchical Posture-Adaptive Navigation for Quadruped Robots in Unstructured 3D Environments
Jeil Jeong, Minsung Yoon, Seokryun Choi +3
Navigating quadruped robots in unstructured 3D environments poses significant challenges, requiring goal-directed motion, effective exploration to escape from local minima, and pos…
Uncertainty-Aware Non-Prehensile Manipulation with Mobile Manipulators under Object-Induced Occlusion
Jiwoo Hwang, Taegeun Yang, Jeil Jeong +2
Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can l…
Locomotion Beyond Feet
Tae Hoon Yang, Haochen Shi, Jiacheng Hu +10
Most locomotion methods for humanoid robots focus on leg-based gaits, yet natural bipeds frequently rely on hands, knees, and elbows to establish additional contacts for stability…
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
Taegeun Yang, Jiwoo Hwang, Jeil Jeong +2
We propose a hierarchical reinforcement learning (HRL) framework for efficient Navigation Among Movable Obstacles (NAMO) using a mobile manipulator. Our approach combines interacti…