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Learning to bag with a simulation-free reinforcement learning framework for robots
Bagging is an essential skill that humans perform in their daily activities.
Online Mapping and Motion Planning under Uncertainty for Safe Navigation in Unknown Environments
The proposed approach deals with the motion, probabilistic safety, and online computation constraints by: (i) incrementally mapping the surroundings to build an uncertainty-aware representation of the environment, and (ii) iteratively (re)planning trajectories to goal that are kinodynamically feasible and probabilistically safe through a multi-layered sampling-based planner in the belief space.
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