[HTML][HTML] Robotic world models—conceptualization, review, and engineering best practices
The term “world model”(WM) has surfaced several times in robotics, for instance, in the
context of mobile manipulation, navigation and mapping, and deep reinforcement learning …
context of mobile manipulation, navigation and mapping, and deep reinforcement learning …
The ARCHES space-analogue demonstration mission: Towards heterogeneous teams of autonomous robots for collaborative scientific sampling in planetary …
Teams of mobile robots will play a crucial role in future missions to explore the surfaces of
extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive …
extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive …
Spatial action maps for mobile manipulation
Typical end-to-end formulations for learning robotic navigation involve predicting a small set
of steering command actions (eg, step forward, turn left, turn right, etc.) from images of the …
of steering command actions (eg, step forward, turn left, turn right, etc.) from images of the …
Fully autonomous real-world reinforcement learning with applications to mobile manipulation
We study how robots can autonomously learn skills that require a combination of navigation
and grasping. Learning robotic skills in the real world remains challenging without large …
and grasping. Learning robotic skills in the real world remains challenging without large …
Learning to Grasp on the Moon from 3D Octree Observations with Deep Reinforcement Learning
Extraterrestrial rovers with a general-purpose robotic arm have many potential applications
in lunar and planetary exploration. Introducing autonomy into such systems is desirable for …
in lunar and planetary exploration. Introducing autonomy into such systems is desirable for …
Finally! insights into the arches lunar planetary exploration analogue campaign on etna in summer 2022
This paper summarises the first outcomes of the space demonstration mission of the
ARCHES project which could have been performed this year from 13 june until 10 july on …
ARCHES project which could have been performed this year from 13 june until 10 july on …
Vision-based robotic pushing and grasping for stone sample collection under computing resource constraints
Increasing the robustness of grasping actions and the recovery from failure is key to
improving a robot's autonomy. Endowing robots with the ability to robustly grasp and …
improving a robot's autonomy. Endowing robots with the ability to robustly grasp and …
Preliminary results for the multi-robot, multi-partner, multi-mission, planetary exploration analogue campaign on mount etna
This paper was initially intended to report on the outcome of the twice postponed
demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has …
demonstration mission of the ARCHES project. Due to the global COVID pandemic, it has …
Mobile manipulation of a laser-induced breakdown spectrometer for planetary exploration
P Lehner, R Sakagami, W Boerdijk… - 2023 IEEE …, 2023 - ieeexplore.ieee.org
Laser-induced Breakdown Spectroscopy (LIBS) is an established analytical technique to
measure the elemental composition of rocks and other matter on the Martian surface. We …
measure the elemental composition of rocks and other matter on the Martian surface. We …
Modular Mechatronics Infrastructure for robotic planetary exploration assets in a field operation scenario
AF Prince, B Vodermayer, B Pleintinger, A Kolb… - Acta Astronautica, 2023 - Elsevier
Abstract In 2021 the Modular Mechatronics Infrastructure (MMI) was introduced as a solution
to reduce weight, costs, and development time in robotic planetary missions. With …
to reduce weight, costs, and development time in robotic planetary missions. With …