9 accepted papers
A differential dynamic programming (DDP)-based framework for inverse reinforcement learning (IRL) is introduced to recover the parameters in the cost function, system dynamics, and constraints from demonstrations. Different from existing work, where DDP was usually used for the inner forward problem…
Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and Visual-Inertial Odometry (VIO), often face challenges in localization
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Modeling (BIM), and robot navigation. Motorized LiDAR systems can expand the Field of View (FoV) without adding multiple s
Depth map captured by 3D cameras usually suffers from low resolution and insufficient quality, which limits its applications in real world. Thus, it is an essential task to develop efficient and effective techniques to handle various depth degradations. In this paper, we propose a color guided depth…
In this paper, we present the dynamic model and control of DoubleBee, a novel hybrid aerial-ground vehicle consisting of two propellers mounted on tilting servo motors and two motor-driven wheels. DoubleBee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys th…
Single-view 3D reconstruction is a fundamental operation in computer vision. Although significant progress has been made by learning-based approaches, it remains a challenge that the reconstructed mesh is usually coarse since the geometric prior is ignored. In this paper, we propose a geometric prio…
Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. In this work,…
Deep learning has had remarkable success in robotic perception, but its data-centric nature suffers when it comes to generalizing to ever-changing environments. By contrast, physics-based optimization generalizes better, but it does not perform as well in complicated tasks due to the lack of high-le…
This letter introduces a differential dynamic programming (DDP) based framework for polynomial trajectory generation for differentially flat systems. In particular, instead of using a linear equation with increasing size to represent multiple polynomial segments as in literature, we take a new persp