Henrik I Christensen
Henrik I Christensen
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cpRRTC: GPU-Parallel RRT-Connect for Constrained Motion Planning
Motion planning is a fundamental problem in robotics that involves generating feasible trajectories for a robot to follow. Recent …
Jiaming Hu
,
Jiawei Wang
,
Henrik Christensen
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DOI
Learning Dexterous Deformable Object Manipulation Through Cross-Embodiment Dynamic Learning
Dexterous manipulation of deformable objects remains a core challenge in robotics due to complex contact dynamics and high-dimensional …
Zihao He
,
Bo Ai
,
Yulin Liu
,
Weikang Wan
,
Henrik I Christensen
,
Hao Su
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Using Language and Road Manuals to Inform Map Reconstruction for Autonomous Driving
Lane-topology prediction is a critical component of safe and reliable autonomous navigation. An accurate understanding of the road …
Akshar Tumu
,
Henrik I. Christensen
,
Marcell Vazquez-Chanlatte
,
Chikao Tsuchiya
,
Dhaval Bhanderi
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Project
DOI
Light-Weight Autonomous Driving Scooter for Urban Micro-Mobility
Rental electric scooters provide an effective last-mile mobility solution in spatially extensive environments. Nevertheless, existing …
Chenghao Li
,
Tong Shen
,
Seth Farrell and Henrik Christensen
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Project
Real-Time Online Mapping for Autonomous Driving : Addressing Sensor Generalization and Dynamic Map Updates in Campus Environments
High-definition (HD) maps are essential for autonomous driving systems, providing critical information such as road boundaries, lane …
Zihan Zhang
,
Abhijit Ravichandran
,
Pragnya Korti
,
Luobin Wang and Henrik Iskov Christensen
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Project
Towards Embodiment Scaling Laws in Robot Locomotion
Developing generalist agents that can operate across diverse tasks, environments, and robot embodiments is a grand challenge in …
Bo Ai
,
Liu Dai
,
Nico Bohlinger
,
Dichen Li
,
Tongzhou Mu
,
Zhanxin Wu
,
K. Fay
,
Henrik I Christensen
,
Jan Peters and Hao Su
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Project
Learning Dexterous Deformable Object Manipulation Through Cross-Embodiment Dynamics Learning
Dexterous manipulation of deformable objects remains a core challenge in robotics due to complex contact dynamics and high-dimensional …
Zihao He
,
Bo Ai
,
Yulin Liu
,
Weikang Wan
,
Henrik I. Christensen
,
Hao Su
Cite
Project
SD++: Enhancing Standard Definition Maps by Incorporating Road Knowledge using LLMs
High-definition maps (HD maps) are detailed and informative maps capturing lane centerlines and road elements. Although very useful for …
Hitvarth Diwanji
,
Jing-Yan Liao
,
Akshar Tumu
,
Henrik I. Christensen
,
Marcell Vazquez-Chanlatte and Chikao Tsuchiya
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Project
MapGS: Generalizable Pretraining and Data Augmentation for Online Mapping via Novel View Synthesis
Online mapping reduces the reliance of autonomous vehicles on high-definition (HD) maps, significantly enhancing scalability. However, …
Hengyuan Zhang
,
David Paz
,
Yuliang Guo
,
Xinyu Huang
,
Henrik Christensen and Liu Ren
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Project
SMART: Advancing Scalable Map Priors for Driving Topology Reasoning
Topology reasoning is crucial for autonomous driving as it enables comprehensive understanding of connec- tivity and relationships …
Junjie Ye
,
David Paz
,
Hengyuan Zhang
,
Yuliang Guo
,
Xinyu Huang
,
Henrik Iskov Christensen
,
Yue Wang
,
Liu Ren
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