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Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots

Planning smooth and energy-efficient motions for wheeled mobile robots is a central task in applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of sampling-based motion planners, …

Scaling simulation-to-real transfer by learning composable robot skills

We present a strategy for simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a diverse set of skills and their variations, and embed those …

Confidence-rich Grid Mapping

Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment. CRM …