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07/26/2023
Improving Reliable Navigation under Uncertainty via Predictions Informed by Non-Local Information
We improve reliable, long-horizon, goal-directed navigation in partially...
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06/15/2023
Guided Sampling-Based Motion Planning with Dynamics in Unknown Environments
Despite recent progress improving the efficiency and quality of motion p...
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05/08/2023
Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
We consider a service robot in a household environment given a sequence ...
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04/03/2023
Data-Efficient Policy Selection for Navigation in Partial Maps via Subgoal-Based Abstraction
We present a novel approach for fast and reliable policy selection for n...
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03/29/2023
Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments
We present a novel approach for efficient and reliable goal-directed lon...
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12/17/2022
Comparison of Model-Free and Model-Based Learning-Informed Planning for PointGoal Navigation
In recent years several learning approaches to point goal navigation in ...
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04/21/2021
Learning and Planning for Temporally Extended Tasks in Unknown Environments
We propose a novel planning technique for satisfying tasks specified in ...
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03/31/2020
Enabling Topological Planning with Monocular Vision
Topological strategies for navigation meaningfully reduce the space of p...
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10/11/2017