no code implementations • 26 Jan 2025 • Yuheng Qiu, Can Xu, Yutian Chen, Shibo Zhao, Junyi Geng, Sebastian Scherer
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due to the highly dynamic and non-linear-flight patterns that differ from pedestrian motion.
no code implementations • 23 Jun 2024 • Chen Wang, Kaiyi Ji, Junyi Geng, Zhongqiang Ren, Taimeng Fu, Fan Yang, Yifan Guo, Haonan He, Xiangyu Chen, Zitong Zhan, Qiwei Du, Shaoshu Su, Bowen Li, Yuheng Qiu, Yi Du, Qihang Li, Yifan Yang, Xiao Lin, Zhipeng Zhao
The framework of IL consists of three primary components: a neural module, a reasoning engine, and a memory system.
no code implementations • 12 Feb 2024 • Qizhao Chen, Ziqi Hu, Junyi Geng, Dongwei Bai, Mohammad Mousaei, Sebastian Scherer
This paper introduces a unified MPC-based control strategy for a customized tiltrotor VTOL Unmanned Aerial Vehicle (UAV), which does not require mode-switching and can perform the control allocation in a consistent way.
no code implementations • 12 Oct 2023 • Minh Q. Ta, Holly Dinkel, Hameed Abdul-Rashid, Yangfei Dai, Jessica Myers, Tan Chen, Junyi Geng, Timothy Bretl
This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy.
no code implementations • 12 Jul 2023 • Daning Huang, Muhammad Bayu Prasetyo, Yin Yu, Junyi Geng
The accurate modeling and control of nonlinear dynamical effects are crucial for numerous robotic systems.
no code implementations • 7 Apr 2022 • Yafei Hu, Junyi Geng, Chen Wang, John Keller, Sebastian Scherer
To the best of our knowledge, this work for the first time demonstrates value function prediction on real-world dataset for robot exploration in challenging subterranean and urban environments.
2 code implementations • 3 Mar 2022 • Shuijing Liu, Peixin Chang, Zhe Huang, Neeloy Chakraborty, Kaiwen Hong, Weihang Liang, D. Livingston McPherson, Junyi Geng, Katherine Driggs-Campbell
We study the problem of safe and intention-aware robot navigation in dense and interactive crowds.
1 code implementation • 31 Dec 2021 • Xinke Deng, Junyi Geng, Timothy Bretl, Yu Xiang, Dieter Fox
The auto-encoder can be used in a particle filter framework to estimate and track 6D poses of objects in a category.
no code implementations • 11 Aug 2020 • Tianchen Ji, Junyi Geng, Katherine Driggs-Campbell
Robust design of autonomous systems under uncertainty is an important yet challenging problem.
no code implementations • 9 Feb 2019 • Yuelong Li, Mohammad Tofighi, Junyi Geng, Vishal Monga, Yonina C. Eldar
We then unroll the algorithm to construct a neural network for image deblurring which we refer to as Deep Unrolling for Blind Deblurring (DUBLID).