no code implementations • 18 Dec 2023 • Jared Strader, Nathan Hughes, William Chen, Alberto Speranzon, Luca Carlone
This paper proposes an approach to build 3D scene graphs in arbitrary indoor and outdoor environments.
1 code implementation • 2 Aug 2021 • Zachary Ravichandran, Lisa Peng, Nathan Hughes, J. Daniel Griffith, Luca Carlone
In this work, we present a reinforcement learning framework that leverages high-level hierarchical representations to learn navigation policies.
no code implementations • 11 Mar 2021 • Joshua Fishman, Samuel Ubellacker, Nathan Hughes, Luca Carlone
This paper presents the first prototype of a soft drone -- a quadrotor where traditional (i. e., rigid) landing gears are replaced with a soft tendon-actuated gripper to enable aggressive grasping.
Robotics
2 code implementations • 18 Jan 2021 • Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone
This mental model captures geometric and semantic aspects of the scene, describes the environment at multiple levels of abstractions (e. g., objects, rooms, buildings), includes static and dynamic entities and their relations (e. g., a person is in a room at a given time).