Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments

23 October 2021

Zhaoyuan Gu

Papers citing "Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments"

25 / 25 papers shown

Title
Bi-directional Recurrence Improves Transformer in Partially Observable Markov Decision Processes Ashok Arora Neetesh Kumar 19 0 0 16 May 2025
PreCi: Pretraining and Continual Improvement of Humanoid Locomotion via Model-Assumption-Based Regularization Hyunyoung Jung Zhaoyuan Gu Ye Zhao Hae-Won Park Sehoon Ha 31 0 0 14 Apr 2025
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning Wei Zhu Abirath Raju Abdulaziz Shamsah Anqi Wu S. Hutchinson Ye Zhao 72 0 0 16 Mar 2025
Probabilistic approach to feedback control enhances multi-legged locomotion on rugged landscapes Juntao He Baxi Chong Jianfeng Lin Zhaochen Xu Hosain Bagheri Esteban Flores Daniel I. Goldman 44 3 0 11 Nov 2024
Optimization-based Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow Xuan Lin Jiming Ren Samuel Coogan Ye Zhao 26 0 0 27 Sep 2024
Autotuning Bipedal Locomotion MPC with GRFM-Net for Efficient Sim-to-Real Transfer Qianzhong Chen Junheng Li Sheng Cheng N. Hovakimyan Quan Nguyen 24 0 0 24 Sep 2024
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks Abdulaziz Shamsah Jesse Jiang Ziwon Yoon Samuel Coogan Ye Zhao 31 1 0 23 Sep 2024
Human-Robot Cooperative Distribution Coupling for Hamiltonian-Constrained Social Navigation Weizheng Wang Chao Yu Yu Wang Byung-Cheol Min 149 2 0 20 Sep 2024
Rapid and Robust Trajectory Optimization for Humanoids Bohao Zhang Ram Vasudevan 36 4 0 31 Aug 2024
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning Jesse Jiang Samuel Coogan Ye Zhao 13 0 0 09 Jul 2024
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control Abdulaziz Shamsah Krishanu Agarwal Nigam Katta Abirath Raju Shreyas Kousik Ye Zhao 37 2 0 24 Jun 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation Abdulaziz Shamsah Krishanu Agarwal Shreyas Kousik Ye Zhao 32 2 0 25 Mar 2024
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability Kasidit Muenprasitivej Jesse Jiang Abdulaziz Shamsah Samuel Coogan Ye Zhao 44 4 0 25 Mar 2024
Robust-Locomotion-by-Logic: Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control Zhaoyuan Gu Yuntian Zhao Yipu Chen Rongming Guo Jennifer K. Leestma Gregory S Sawicki Ye Zhao 31 9 0 24 Mar 2024
Signal Temporal Logic-Guided Model Predictive Control for Robust Bipedal Locomotion Resilient to Runtime External Perturbations Zhaoyuan Gu Rongming Guo William Yates Yipu Chen Ye Zhao 16 0 0 17 Oct 2023
Socially Acceptable Bipedal Navigation: A Signal-Temporal-Logic- Driven Approach for Safe Locomotion Abdulaziz Shamsah Ye Zhao 23 0 0 15 Oct 2023
Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion Ted Tyler Vaibhav Malhotra Adam Montague Zhigen Zhao Frank L. Hammond Ye Zhao 22 1 0 19 Apr 2023
Reactive Gait Composition with Stability: Dynamic Walking amidst Static and Moving Obstacles K. S. Narkhede Mohamad Shafiee Motahar Sushant Veer I. Poulakakis 25 1 0 28 Mar 2023
Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection Jae-Koo Shim Carlos Mastalli Thomas Corbéres Steve Tonneau V. Ivan S. Vijayakumar 27 5 0 24 Mar 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik K. Sreenath 23 124 0 06 Mar 2023
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution M. Cao J. Warnke Yunhai Han Xinpei Ni Ye Zhao Samuel Coogan 11 9 0 03 Jun 2022
Orientation-Aware Model Predictive Control with Footstep Adaptation for Dynamic Humanoid Walking Yanran Ding Charles Khazoom Matthew Chignoli Sangbae Kim 34 24 0 30 May 2022
Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery Zhaoyuan Gu Nathan Boyd Ye Zhao 20 16 0 06 Oct 2021
Safe Navigation in Human Occupied Environments Using Sampling and Control Barrier Functions K. Majd Shakiba Yaghoubi Tomoya Yamaguchi Bardh Hoxha Danil Prokhorov Georgios Fainekos 93 26 0 03 May 2021