From the 1 of 38 linked papers with an AI index.
38 papers
A Replay-Constrained Simulation Framework for Personalization of Powered Knee--Ankle Prosthesis Controllers
Duong Le, Ryan Posh, Shihao Cheng +2
Personalization of impedance controllers for powered prosthetic legs is critical to accommodating individual gait biomechanics but remains challenging. Existing methods rely on tim…
NavVerse: Benchmarking Indoor-to-Outdoor Embodied Navigation in Continuous Robot Simulation
Junzhe Wu, Yue Hu, Zeyu Han +4
Robots deployed in delivery, campus, and emergency-response settings often need to navigate from buildings to streets within a single continuous episode. Existing benchmarks usuall…
E3DGS: Unified Geometric-Photometric Equivariance for 3D Gaussian Splatting via Color-as-Geometry Embedding
Chankyo Kim, Maani Ghaffari
3D Gaussian Splatting (3DGS) captures scenes by coupling explicit geometry (position, covariance) with view-dependent photometry (Spherical Harmonics). However, building $\mathrm{S…
REST: Receding Horizon Explorative Steiner Tree for Zero-Shot Object-Goal Navigation
Shuqi Xiao, Maani Ghaffari, Chengzhong Xu +1
The paper introduces REST, a training‑free system that builds an open‑vocabulary 3D map from RGB‑D streams, grows a tree of safe and informative paths, and uses a language model to…
Learning Adaptive Solvers for Distributed Factor Graph Optimization on Matrix Lie Groups
Jaeho Shin, Maani Ghaffari, Yulun Tian
Modern robotic perception increasingly involves large-scale geometric optimization problems distributed across multiple robots or sessions. However, existing distributed solvers of…
LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies
Sangli Teng, Ruiqi Zhang, Tzu-Yuan Lin +5
Designing dynamically feasible trajectories for rigid bodies is a fundamental problem in robotics. While direct methods are widely used, the existing constrained optimizers typical…