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检索条件"机构=General Robotics Automation Sensing and Perception Laboratory"
66 条 记 录,以下是1-10 订阅
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Active perception using Neural Radiance Fields
Active Perception using Neural Radiance Fields
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American Control Conference (ACC)
作者: H. Siming Christopher D. Hsu Dexter Ong Yifei Simon Shao Pratik Chaudhari General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania
We study active perception from first principles to argue that an autonomous agent performing active perception should maximize the mutual information that past observations posses about future ones. Doing so requires... 详细信息
来源: 评论
Reinforcement Learning for Reduced-order Models of Legged Robots
Reinforcement Learning for Reduced-order Models of Legged Ro...
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IEEE International Conference on robotics and automation (ICRA)
作者: Yu-Ming Chen Hien Bui Michael Posa General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA
Model-based approaches for planning and control for bipedal locomotion have a long history of success. It can provide stability and safety guarantees while being effective in accomplishing many locomotion tasks. Model... 详细信息
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Active Scout: Multi-Target Tracking Using Neural Radiance Fields in Dense Urban Environments
Active Scout: Multi-Target Tracking Using Neural Radiance Fi...
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
作者: Christopher D. Hsu Pratik Chaudhari DEVCOM Army Research Laboratory Department of Electrical & Systems Engineering and General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania
We study pursuit-evasion games in highly occluded urban environments, e.g. tall buildings in a city, where a scout (quadrotor) tracks multiple dynamic targets on the ground. We show that we can build a neural radiance... 详细信息
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Online Optimization of Soft Manipulator Mechanics via Hierarchical Control
Online Optimization of Soft Manipulator Mechanics via Hierar...
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IEEE International Conference on Soft robotics (RoboSoft)
作者: Shivangi Misra Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania Philadelphia PA USA
Actively tuning mechanical properties in soft robots is now feasible due to advancements in soft actuation technologies. In soft manipulators, these novel actuators can be distributed over the robot body to allow grea...
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Design and Characterization of a Pneumatic Tunable-Stiffness Bellows Actuator
Design and Characterization of a Pneumatic Tunable-Stiffness...
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IEEE International Conference on Soft robotics (RoboSoft)
作者: Rongqian Chen Jun Kwon Wei-Hsi Chen Cynthia Sung General Robotics Automation Sensing & Perception (GRASP) Lab University of Pennsylvania Philadelphia PA USA
We introduce a self-contained pneumatic actuator capable of 1.43 times stiffness gain from 1332 N/m to 1913 N/m without needing an external air source or valve. The design incorporates an air chamber bellows and a spr...
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Point2Point: A Framework for Efficient Deep Learning on Hilbert Sorted Point Clouds with Applications in Spatio-Temporal Occupancy Prediction
Point2Point: A Framework for Efficient Deep Learning on Hilb...
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
作者: Athrva Atul Pandhare General Robotics Automation Sensing & Perception Lab (GRASP) University of Pennsylvania PA USA
The irregularity and permutation invariance of point cloud data pose challenges for effective learning. Conventional methods for addressing this issue involve converting raw point clouds to intermediate representation...
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Opportunistic Communication in Robot Teams
Opportunistic Communication in Robot Teams
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IEEE International Conference on robotics and automation (ICRA)
作者: Daniel Mox Kashish Garg Alejandro Ribeiro Vijay Kumar General Robotics Automation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA Electrical and Systems Engineering Department University of Pennsylvania Philadelphia PA USA
In this paper we present a new approach to Mobile Infrastructure on Demand (MID) where a dedicated team of robots creates and sustains a wireless network that satisfies the communication requirements of a different te... 详细信息
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Local Input-to-State Stability for Consensus in the Presence of Intermittent Communication and Input Saturation
Local Input-to-State Stability for Consensus in the Presence...
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IEEE Conference on Decision and Control
作者: Thales C. Silva M. Ani Hsieh General Robotics Actuation Sensing and Perception (GRASP) Laboratory University of Pennsylvania Philadelphia PA USA
This paper addresses the problem of reaching con-sensus under input saturation and intermittent communication, which can hinder the convergence of the system. We propose a method that translates the consensus into an ...
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Reparametrization of 3D CSC Dubins Paths Enabling 2D Search
arXiv
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arXiv 2025年
作者: Xu, Ling Baryshnikov, Yuliy Sung, Cynthia General Robotics Automation Sensing & Perception Lab University of Pennsylvania PhiladelphiaPA United States Department of Mathematics University of Illinois Urbana-Champaign UrbanaIL United States
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths – paths that consist of a circular arc (C) followed by a straight segment ... 详细信息
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Designing 3D-printed concrete structures with scaled fabrication models
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Architectural Intelligence 2024年 第1期3卷 1-16页
作者: Zhi, Yefan Teng, Teng Akbarzadeh, Masoud Polyhedral Structures Laboratory School of Design University of Pennsylvania Philadelphia USA Automation Sensing and Perception (GRASP) Lab School of Engineering and Applied Science General Robotic UniversityofPennsylvania Philadelphia USA
This article proposes using scaled fabrication models to assist the design research of 3D-printed discrete concrete structures where full-scale fabrication tests are costly and time-consuming. A scaled fabrication mod...
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