10 papers
Continual-RL for Generalization in Autonomous Racing on the RoboRacer Platform
Joel Siegert, Edoardo Ghignone, Michele Magno
A key challenge in modern robotics is to adapt to changing environments, a challenge that is exacerbated when simulations cannot encompass every possible real-world configuration,…
LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation
Nicolas Baumann, Liam Boyle, Pu Deng +5
Vision Language Models (VLMs) have emerged in the robotic domain as a powerful tool that enables environmental perception with language context, serving as a catalyst for open-voca…
Residual Koopman Model Predictive Control for Enhanced Vehicle Dynamics with Small On-Track Data Input
Yonghao Fu, Cheng Hu, Haokun Xiong +6
In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model c…
M-Predictive Spliner: Enabling Spatiotemporal Multi-Opponent Overtaking for Autonomous Racing
Nadine Imholz, Maurice Brunner, Nicolas Baumann +2
Unrestricted multi-agent racing presents a significant research challenge, requiring decision-making at the limits of a robot's operational capabilities. While previous approaches…
R-CARLA: High-Fidelity Sensor Simulations with Interchangeable Dynamics for Autonomous Racing
Maurice Brunner, Edoardo Ghignone, Nicolas Baumann +1
Autonomous racing has emerged as a crucial testbed for autonomous driving algorithms, necessitating a simulation environment for both vehicle dynamics and sensor behavior. Striking…
DTR: Delaunay Triangulation-based Racing for Scaled Autonomous Racing
Luca Tognoni, Neil Reichlin, Edoardo Ghignone +4
Reactive controllers for autonomous racing avoid the computational overhead of full ee-Think-Act autonomy stacks by directly mapping sensor input to control actions, eliminating th…