GaTech LIDAR Group

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

Adaptive Obstacle-Aware Task Assignment andPlanning for Heterogeneous Robot Teaming
Adaptive Obstacle-Aware Task Assignment andPlanning for Heterogeneous Robot Teaming
Probabilistically-Safe Bipedal Navigation via Conformal Prediction and Contraction Analysis
Probabilistically-Safe Bipedal Navigation via Conformal Prediction and Contraction Analysis
RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
Hierarchical Diffusion Motion Planning with Task Conditioned Uncertainty Aware Priors
Hierarchical Diffusion Motion Planning with Task Conditioned Uncertainty Aware Priors
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
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
Physically-Feasible Reactive Synthesis forTerrain-Adaptive Locomotion
Physically-Feasible Reactive Synthesis forTerrain-Adaptive Locomotion
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
EmoBipedNav: Emotion-aware Social Navigation for Bipedal Robots with Deep Reinforcement Learning
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
Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Reactive Synthesis for Terrain-Adaptive Locomotion via Trajectory Optimization and Symbolic Repair
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Humanoid Loco-Manipulation
Opt2Skill: Imitating Dynamically-feasible Whole-Body Trajectories for Humanoid Loco-Manipulation
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
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
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
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control
Socially Acceptable Bipedal Robot Navigation via Social Zonotope Network Model Predictive Control
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
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
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
Bipedal Safe Navigation over Uncertain Terrain: Unifying Terrain Mapping and Locomotion Stability
Bipedal Safe Navigation over Uncertain Terrain: Unifying Terrain Mapping and Locomotion Stability
Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
Perturbation-Resilient Bipedal Locomotion via Signal Temporal Logic Guided Model Predictive Control
Hierarchical Experience-informed Navigation for Multi-modalQuadrupedal Rebar Grid Traversal
Hierarchical Experience-informed Navigation for Multi-modalQuadrupedal Rebar Grid Traversal
Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning
Bipedal Locomotion Reward Learning from Demonstrations via Inverse Reinforcement Learning
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
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)
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
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation
IRIM Symposium: Safe Legged Locomotion, Navigation, and Coordination
IRIM Symposium: Safe Legged Locomotion, Navigation, and Coordination
Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments.
Dynamic Gap: Formal Guarantees for Safe Gap-based Navigation in Dynamic Environments.
GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation
GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution
Leveraging Heterogeneous Capabilities in Multi-Agent Systems for Environmental Conflict Resolution