3 accepted papers
Obstacle avoidance is a fundamental requirement for safe and reliable robot operation. Due to the lack of techniques capable of efficiently and accurately computing volumetric distances and their derivatives, many obstacle avoidance frameworks neglect the volumetric characteristics of objects by usi
We present DisFlow, a novel framework for online scene flow estimation from distance field that enables 6DoF dynamic object pose estimation, motion tracking, and surface reconstruction. The scene is represented by Gaussian Process Implicit Surfaces (GPIS), with surface normals serving as derivative …
General robot skill adaptation requires expressive representations robust to varying task configurations. While recent learning-based skill adaptation methods refined via Reinforcement learning (RL) have shown success, existing skill models often lack sufficient representational capacity for anythin