6 papers
Learning Adaptive Multi-Task Guidance, Navigation, and Control via Hypernetworks
Ricard Marsal I Castan, Aman Arora, Antoine Richard +3
Autonomous free-flying robots in orbital environments require controllers that are both versatile and resource-efficient, yet maintaining a separate, task-specific policy for each…
Unleashing the Power of Discrete-Time State Representation: Ultrafast Target-based IMU-Camera Spatial-Temporal Calibration
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal st…
Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning
NVIDIA, :, Mayank Mittal +104
We present Isaac Lab, the natural successor to Isaac Gym, which extends the paradigm of GPU-native robotics simulation into the era of large-scale multi-modal learning. Isaac Lab c…
Observability Investigation for Rotational Calibration of (Global-pose aided) VIO under Straight Line Motion
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable…
Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumpt…
GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Models
Kuldeep R Barad, Andrej Orsula, Antoine Richard +3
Vision-based grasping of unknown objects in unstructured environments is a key challenge for autonomous robotic manipulation. A practical grasp synthesis system is required to gene…