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Robotics videos from the Laboratory for Intelligent Decision and Autonomous Robots at Georgia Tech.

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Towards the Geometric Foundation of Trustworthy Autonomy -- Sangli Teng

Towards the Geometric Foundation of Trustworthy Autonomy -- Sangli Teng GaTech LIDAR Group

44 views - 1 day ago

Scaling Mobile Manipulation for Whole-body Coordination to Open-World Semantics -- Yuxin Chen

Scaling Mobile Manipulation for Whole-body Coordination to Open-World Semantics -- Yuxin Chen GaTech LIDAR Group

132 views - 1 week ago

Towards Model-guided Learning on Humanoid Robots -- Junheng Li

Towards Model-guided Learning on Humanoid Robots -- Junheng Li GaTech LIDAR Group

211 views - 4 weeks ago

Simulation-driven Generative Control for Robotics -- Vince Kurtz

Simulation-driven Generative Control for Robotics -- Vince Kurtz GaTech LIDAR Group

152 views - 4 weeks ago

STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain

STATE-NAV: Stability-Aware Traversability Estimation for Bipedal Navigation on Rough Terrain GaTech LIDAR Group

226 views - 1 month ago

Adaptive Obstacle-Aware Task Assignment andPlanning for Heterogeneous Robot Teaming

Adaptive Obstacle-Aware Task Assignment andPlanning for Heterogeneous Robot Teaming GaTech LIDAR Group

169 views - 4 months ago

Probabilistically-Safe Bipedal Navigation via Conformal Prediction and Contraction Analysis

Probabilistically-Safe Bipedal Navigation via Conformal Prediction and Contraction Analysis GaTech LIDAR Group

100 views - 4 months ago

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain GaTech LIDAR Group

737 views - 4 months ago

Hierarchical Diffusion Motion Planning with Task Conditioned Uncertainty Aware Priors

Hierarchical Diffusion Motion Planning with Task Conditioned Uncertainty Aware Priors GaTech LIDAR Group

104 views - 4 months ago

SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Loco-Manipulation

SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Loco-Manipulation GaTech LIDAR Group

265 views - 4 months ago

Towards Tighter Convex Relaxation of Mixed-Integer Programs: LeveragingLogic Network Flow for TAMP

Towards Tighter Convex Relaxation of Mixed-Integer Programs: LeveragingLogic Network Flow for TAMP GaTech LIDAR Group

316 views - 5 months ago

Physically-Feasible Reactive Synthesis forTerrain-Adaptive Locomotion

Physically-Feasible Reactive Synthesis forTerrain-Adaptive Locomotion GaTech LIDAR Group

220 views - 5 months ago

EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning

EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning GaTech LIDAR Group

445 views - 11 months ago

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains

Learn to Teach: Sample-Efficient Privileged Learning for Humanoid Locomotion over Diverse Terrains GaTech LIDAR Group

782 views - 11 months ago

Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair

Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair GaTech LIDAR Group

127 views - 11 months ago

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Humanoid Loco-Manipulation

Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Humanoid Loco-Manipulation GaTech LIDAR Group

587 views - 1 year ago

Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow

Task and Motion Planning under Signal Temporal Logic Specifications using Logic Network Flow GaTech LIDAR Group

321 views - 1 year ago

Terrain-Aware Model Predictive Control of Heterogeneous Robot Coordination for Search and Rescue

Terrain-Aware Model Predictive Control of Heterogeneous Robot Coordination for Search and Rescue GaTech LIDAR Group

1.1K views - 1 year ago

A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning

A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning GaTech LIDAR Group

363 views - 1 year ago

Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control

Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control GaTech LIDAR Group

612 views - 1 year ago

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation

MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation GaTech LIDAR Group

409 views - 1 year ago

LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in LTL Specifications

LTL-D*: Incrementally Optimal Replanning for Feasible and Infeasible Tasks in LTL Specifications GaTech LIDAR Group

298 views - 1 year ago

Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation

Real-time Model Predictive Control with Zonotope-Based Neural Networks for Bipedal Social Navigation GaTech LIDAR Group

492 views - 1 year ago

Bipedal Safe Navigation over Uncertain Terrain: Unifying Terrain Mapping and Locomotion Stability

Bipedal Safe Navigation over Uncertain Terrain: Unifying Terrain Mapping and Locomotion Stability GaTech LIDAR Group

487 views - 1 year ago

Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control

Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control GaTech LIDAR Group

3.3K views - 1 year ago

Hierarchical Experience-informed Navigation for Multi-modalQuadrupedal Rebar Grid Traversal

Hierarchical Experience-informed Navigation for Multi-modalQuadrupedal Rebar Grid Traversal GaTech LIDAR Group

750 views - 2 years ago

Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning

Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning GaTech LIDAR Group

1.2K views - 2 years ago

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion

Walking-by-Logic: Signal Temporal Logic-Guided Model Predictive Control for Bipedal Locomotion GaTech LIDAR Group

387 views - 2 years ago

Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments (Updated)

Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments (Updated) GaTech LIDAR Group

404 views - 2 years ago

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

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

357 views - 3 years ago

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation GaTech LIDAR Group

448 views - 3 years ago

IRIM Symposium: Safe Legged Locomotion, Navigation, and Coordination

IRIM Symposium: Safe Legged Locomotion, Navigation, and Coordination GaTech LIDAR Group

192 views - 3 years ago

Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments.

Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments. GaTech LIDAR Group

109 views - 3 years ago

GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation

GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation GaTech LIDAR Group

147 views - 3 years ago

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution GaTech LIDAR Group

79 views - 3 years ago

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution

Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution GaTech LIDAR Group

148 views - 3 years ago

Momentum-Aware Trajectory Optimization and Control for AgileQuadrupedal Locomotion

Momentum-Aware Trajectory Optimization and Control for AgileQuadrupedal Locomotion GaTech LIDAR Group

576 views - 3 years ago

Reactive Locomotion Decision-Making and Planning for Real-Time Perturbation Recovery -- ICRA 2022

Reactive Locomotion Decision-Making and Planning for Real-Time Perturbation Recovery -- ICRA 2022 GaTech LIDAR Group

300 views - 3 years ago

Learning Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer

Learning Vision-Tactile Robotic Grasping Strategy for Deformable Objects via Transformer GaTech LIDAR Group

1.5K views - 4 years ago

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

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

715 views - 4 years ago

Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System

Reactive Task Allocation and Planning of A Heterogeneous Multi-Robot System GaTech LIDAR Group

345 views - 4 years ago

Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery

Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery GaTech LIDAR Group

628 views - 4 years ago

Robust Trajectory Optimization for Robot Locomotion over Uncertain Terrain -- ICRA 2021

Robust Trajectory Optimization for Robot Locomotion over Uncertain Terrain -- ICRA 2021 GaTech LIDAR Group

216 views - 4 years ago

Buzzy Cassie enjoys strolling on campus and in orchard

Buzzy Cassie enjoys strolling on campus and in orchard GaTech LIDAR Group

486 views - 4 years ago

Quadruped navigation with dynamic obstacle collision avoidance

Quadruped navigation with dynamic obstacle collision avoidance GaTech LIDAR Group

444 views - 4 years ago

Biomimetic and Dexterous Robot Avatar -- Athena GaTech LIDAR Group

883 views - 4 years ago

LIDAR lab tour -- 2021 spring

LIDAR lab tour -- 2021 spring GaTech LIDAR Group

1K views - 5 years ago

Cassie Robust Walking over Perturbed Wooden Blocks

Cassie Robust Walking over Perturbed Wooden Blocks GaTech LIDAR Group

355 views - 5 years ago

Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain

Towards Safe Locomotion Navigation in Partially Observable Environments with Uneven Terrain GaTech LIDAR Group

178 views - 5 years ago

Symbolic-decision-embedded bilevel optimization for long-horizon manipulation in dynamic environment

Symbolic-decision-embedded bilevel optimization for long-horizon manipulation in dynamic environment GaTech LIDAR Group

527 views - 5 years ago

[RA-L 21] Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity

[RA-L 21] Robust Trajectory Optimization over Uncertain Terrain with Stochastic Complementarity GaTech LIDAR Group

442 views - 5 years ago

Robust Trajectory Optimization over Uncertain Terrain. --- RSS Workshop on Robust Autonomy

Robust Trajectory Optimization over Uncertain Terrain. --- RSS Workshop on Robust Autonomy GaTech LIDAR Group

205 views - 5 years ago

Robust Locomotion Navigation in Partially Observable Environments -- RSS Robust Autonomy 2020

Robust Locomotion Navigation in Partially Observable Environments -- RSS Robust Autonomy 2020 GaTech LIDAR Group

199 views - 5 years ago

Distributed Trajectory Optimization for Legged Locomotion -- ACC 2020

Distributed Trajectory Optimization for Legged Locomotion -- ACC 2020 GaTech LIDAR Group

293 views - 5 years ago

Robust Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments

Robust Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments GaTech LIDAR Group

131 views - 5 years ago

Dynamic walking 2020 -- Robust Task and Motion Planning for Agile Locomotion In The Now

Dynamic walking 2020 -- Robust Task and Motion Planning for Agile Locomotion In The Now GaTech LIDAR Group

293 views - 5 years ago

Sensing-rich Cassie Foot Pad for Terrain-aware Locomotion over Granular Media (RoboSoft 2020)

Sensing-rich Cassie Foot Pad for Terrain-aware Locomotion over Granular Media (RoboSoft 2020) GaTech LIDAR Group

573 views - 5 years ago