Elevation Mapping for Locomotion and Navigation using GPU

27 April 2022

Marco Hutter

Papers citing "Elevation Mapping for Locomotion and Navigation using GPU"

50 / 65 papers shown

Title
Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning Nikita Rudin Junzhe He Joshua Aurand Marco Hutter 14 0 0 16 May 2025
Do You Know the Way? Human-in-the-Loop Understanding for Fast Traversability Estimation in Mobile Robotics Andre Schreiber Katherine Rose Driggs-Campbell 153 0 0 28 Apr 2025
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps Matt Schmittle Rohan Baijal Nathan Hatch Rosario Scalise Mateo Guaman Castro Sidharth Talia Khimya Khetarpal Byron Boots S. Srinivasa 33 0 0 17 Apr 2025
Collision avoidance from monocular vision trained with novel view synthesis Valentin Tordjman--Levavasseur Stéphane Caron 33 0 0 09 Apr 2025
LEVA: A high-mobility logistic vehicle with legged suspension Marco Arnold Lukas Hildebrandt Kaspar Janssen Efe Ongan Pascal Bürge ... Turcan Tuna Giorgio Valsecchi Cedric Weibel Marco Hutter Michael Wütrich 43 0 0 13 Mar 2025
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots Qiang Zhang Zhang Zhang Wei Cui Jingkai Sun Jiahang Cao ... Hao-Ran Cheng Yujie Chen L. Wang Jian Tang Renjing Xu 50 3 0 12 Mar 2025
Distillation-PPO: A Novel Two-Stage Reinforcement Learning Framework for Humanoid Robot Perceptive Locomotion Qiang Zhang Gang Han Jingkai Sun Wen Zhao Chenghao Sun Jiahang Cao Jiaxu Wang Yijie Guo Renjing Xu 46 0 0 11 Mar 2025
T-CBF: Traversability-based Control Barrier Function to Navigate Vertically Challenging Terrain Manas Gupta Xuesu Xiao 59 0 0 08 Mar 2025
Real-time Spatial-temporal Traversability Assessment via Feature-based Sparse Gaussian Process Senming Tan Zhenyu Hou Zhihao Zhang Long Xu Mengke Zhang Zhaoqi He Chao Xu Fei Gao Yanjun Cao 53 0 0 06 Mar 2025
SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain Xiaoying Li Long Xu Xiaolin Huang Donglai Xue Zhihao Zhang Zhichao Han Chao Xu Yanjun Cao Fei Gao 62 0 0 04 Mar 2025
Learning Perceptive Humanoid Locomotion over Challenging Terrain Wandong Sun Baoshi Cao L. Chen Yongbo Su Yang Liu Zongwu Xie Hong Liu 55 0 0 02 Mar 2025
Tracailer: An Efficient Trajectory Planner for Tractor-Trailer Vehicles in Unstructured Environments Long Xu Kaixin Chai Boyuan An Jiaxiang Gan Qianhao Wang ... Junxiao Lin Zhichao Han Chao Xu Yanjun Cao Fei Gao 34 0 0 27 Feb 2025
Verti-Bench: A General and Scalable Off-Road Mobility Benchmark for Vertically Challenging Terrain Tong Xu Chenhui Pan Madhan B. Rao A. Datar Anuj Pokhrel Yuanjie Lu Xuesu Xiao 40 1 0 17 Feb 2025
Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics M. Asselmeier Ye Zhao Patricio A. Vela 47 0 0 03 Jan 2025
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 39 5 0 23 Dec 2024
Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments Jianhao Jiao R. Geng Yuanhang Li Ren Xin Bowen Yang Jin Wu Lujia Wang M. Liu Rui Fan Dimitrios Kanoulas 77 7 0 30 Nov 2024
Learning Humanoid Locomotion with Perceptive Internal Model Junfeng Long Junli Ren Moji Shi Zhilin Wang Tao Huang Ping Luo Jiangmiao Pang 66 19 0 21 Nov 2024
Real-Time Polygonal Semantic Mapping for Humanoid Robot Stair Climbing Teng Bin Jianming Yao Tin Lun Lam Tianwei Zhang 40 2 0 04 Nov 2024
PACER: Preference-conditioned All-terrain Costmap Generation L. Mao Garrett A. Warnell Peter Stone Joydeep Biswas 46 1 0 30 Oct 2024
Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning I Made Aswin Nahrendra Byeongho Yu Minho Oh Dongkyu Lee Seunghyun Lee Hyeonwoo Lee Hyungtae Lim Hyun Myung 134 2 0 29 Sep 2024
Traverse the Non-Traversable: Estimating Traversability for Wheeled Mobility on Vertically Challenging Terrain Chenhui Pan A. Datar Anuj Pokhrel Matthew Choulas Mohammad Nazeri Xuesu Xiao 29 3 0 26 Sep 2024
Verti-Selector: Automatic Curriculum Learning for Wheeled Mobility on Vertically Challenging Terrain Tong Xu Chenhui Pan Xuesu Xiao 24 2 0 26 Sep 2024
MBC: Multi-Brain Collaborative Control for Quadruped Robots Hang Liu Yi Cheng Rankun Li Xiaowen Hu Linqi Ye Houde Liu 31 0 0 24 Sep 2024
Walking with Terrain Reconstruction: Learning to Traverse Risky Sparse Footholds Ruiqi Yu Qianshi Wang Yizhen Wang Zhicheng Wang Jun Wu Qiuguo Zhu 29 2 0 24 Sep 2024
Reinforcement Learning for Wheeled Mobility on Vertically Challenging Terrain Tong Xu Chenhui Pan Xuesu Xiao 29 5 0 04 Sep 2024
UNRealNet: Learning Uncertainty-Aware Navigation Features from High-Fidelity Scans of Real Environments S. Triest David D. Fan Sebastian Scherer Ali-Akbar Agha-Mohammadi 34 4 0 11 Jul 2024
Learning-based legged locomotion; state of the art and future perspectives Sehoon Ha Joonho Lee M. van de Panne Zhaoming Xie Wenhao Yu Majid Khadiv 47 16 0 03 Jun 2024
BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps Mingkai Jia Qingwen Zhang Bowen Yang Jin Wu Mingming Liu Patric Jensfelt 42 6 0 12 May 2024
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots Joonho Lee Marko Bjelonic Alexander Reske Lorenz Wellhausen Takahiro Miki Marco Hutter 74 39 0 03 May 2024
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision Matías Mattamala Jonas Frey Piotr Libera Nived Chebrolu Georg Martius Cesar Cadena Marco Hutter Maurice F. Fallon SSL 28 8 0 10 Apr 2024
Federated Multi-Agent Mapping for Planetary Exploration Tiberiu-Ioan Szatmari Abhishek Cauligi FedML AI4CE 39 0 0 02 Apr 2024
Terrain-Attentive Learning for Efficient 6-DoF Kinodynamic Modeling on Vertically Challenging Terrain A. Datar Chenhui Pan Mohammad Nazeri Anuj Pokhrel Xuesu Xiao 32 14 0 25 Mar 2024
Efficient Global Navigational Planning in 3D Structures based on Point Cloud Tomography Bowen Yang Jie-Zhi Cheng Bohuan Xue Jianhao Jiao Ming-Yu Liu 28 4 0 12 Mar 2024
UFO: Uncertainty-aware LiDAR-image Fusion for Off-road Semantic Terrain Map Estimation Ohn Kim Junwon Seo Seongyong Ahn Chong Hui Kim 41 4 0 05 Mar 2024
Learning to walk in confined spaces using 3D representation Takahiro Miki Joonho Lee Lorenz Wellhausen Marco Hutter 40 18 0 29 Feb 2024
Pixel to Elevation: Learning to Predict Elevation Maps at Long Range using Images for Autonomous Offroad Navigation Chanyoung Chung Georgios Georgakis Patrick Spieler Curtis Padgett Ali Agha Shehryar Khattak 34 10 0 30 Jan 2024
Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response Junfeng Long Zirui Wang Quanyi Li Jiawei Gao Liu Cao Jiangmiao Pang 63 26 0 18 Dec 2023
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving Sidharth Talia Matt Schmittle Alexander Lambert Alexander Spitzer Christoforos Mavrogiannis S. Srinivasa 24 4 0 19 Nov 2023
Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End Jin Jin Chong Zhang Jonas Frey Nikita Rudin Matías Mattamala Cesar Cadena Marco Hutter 27 12 0 05 Oct 2023
MEM: Multi-Modal Elevation Mapping for Robotics and Learning Diogo S. Carvalho Jonas Frey Takahiro Miki Francisco S. Melo Marco Hutter 36 17 0 28 Sep 2023
DTC: Deep Tracking Control Fabian Jenelten Junzhe He Farbod Farshidian Marco Hutter 24 73 0 27 Sep 2023
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning Lukas Schneider Jonas Frey Takahiro Miki Marco Hutter 30 9 0 25 Sep 2023
Bipedal Walking on Constrained Footholds with MPC Footstep Control Brian Acosta Michael Posa 33 10 0 14 Sep 2023
Towards Autonomous Multi-Modal Mobility Morphobot (M4) Robot: Traversability Estimation and 3D Path Planning Rohit Hiraman Rajput 32 2 0 26 Aug 2023
METAVerse: Meta-Learning Traversability Cost Map for Off-Road Navigation Junwon Seo Taekyung Kim Seongyong Ahn K. Kwak 33 0 0 26 Jul 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 25 62 0 19 Jul 2023
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots David Hoeller Nikita Rudin Dhionis V. Sako Marco Hutter 35 129 0 26 Jun 2023
Safe Navigation in Unstructured Environments by Minimizing Uncertainty in Control and Perception Junwon Seo Jungwi Mun Taekyung Kim 18 4 0 26 Jun 2023
Robust Recovery Motion Control for Quadrupedal Robots via Learned Terrain Imagination Aswin Nahrendra Mi-Suk Oh Byeong-Uk Yu Hyungtae Lim Hyun Myung 24 1 0 22 Jun 2023
Learning to Model and Plan for Wheeled Mobility on Vertically Challenging Terrain A. Datar Chenhui Pan Xuesu Xiao 35 23 0 20 Jun 2023