4 papers · 1 filter
PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching
Lei Ye, Haibo Gao, Peng Xu +7
Diffusion models offer powerful generative capabilities for robot trajectory planning, yet their practical deployment on robots is hindered by a critical bottleneck: a reliance on…
VLM-Empowered Multi-Mode System for Efficient and Safe Planetary Navigation
Sinuo Cheng, Ruyi Zhou, Wenhao Feng +4
The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered mul…
Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
Haoyu Wang, Ruyi Zhou, Liang Ding +5
Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of expl…
Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation
Jiaqi Chen, Jonas Frey, Ruyi Zhou +3
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and defor…