惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

博客园 - 三生石上(FineUI控件)
freeCodeCamp Programming Tutorials: Python, JavaScript, Git & More
月光博客
月光博客
博客园 - 【当耐特】
Hugging Face - Blog
Hugging Face - Blog
让小产品的独立变现更简单 - ezindie.com
让小产品的独立变现更简单 - ezindie.com
爱范儿
爱范儿
大猫的无限游戏
大猫的无限游戏
S
SegmentFault 最新的问题
博客园_首页
雷峰网
雷峰网
量子位
有赞技术团队
有赞技术团队
博客园 - 叶小钗
博客园 - 聂微东
V
V2EX
OSCHINA 社区最新新闻
OSCHINA 社区最新新闻
博客园 - 司徒正美
小众软件
小众软件
The Cloudflare Blog
阮一峰的网络日志
阮一峰的网络日志
Apple Machine Learning Research
Apple Machine Learning Research
Jina AI
Jina AI
人人都是产品经理
人人都是产品经理

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Tight Constraint Prediction of Six-Degree-of-Freedom Tran...
Julia Briden, Trey Gurga, Breanna Johnson, Abhishek Cauligi, Ric · 2025-01-02 · via cs.RO updates on arXiv.org

This work introduces Transformer-based Successive Convexification (T-SCvx), an extension of Transformer-based Powered Descent Guidance (T-PDG), generalizable for efficient six-degree-of-freedom (DoF) fuel-optimal powered descent trajectory generation. Our approach significantly enhances the sample efficiency and solution quality for nonconvex-powered descent guidance by employing a rotation invariant transformation of the sampled dataset. T-PDG was previously applied to the 3-DoF minimum fuel powered descent guidance problem, improving solution times by up to an order of magnitude compared to lossless convexification (LCvx). By learning to predict the set of tight or active constraints at the optimal control problem's solution, Transformer-based Successive Convexification (T-SCvx) creates the minimal reduced-size problem initialized with only the tight constraints, then uses the solution of this reduced problem to warm-start the direct optimization solver. 6-DoF powered descent guidance is known to be challenging to solve quickly and reliably due to the nonlinear and non-convex nature of the problem, the discretization scheme heavily influencing solution validity, and reference trajectory initialization determining algorithm convergence or divergence. Our contributions in this work address these challenges by extending T-PDG to learn the set of tight constraints for the successive convexification (SCvx) formulation of the 6-DoF powered descent guidance problem. In addition to reducing the problem size, feasible and locally optimal reference trajectories are also learned to facilitate convergence from the initial guess. T-SCvx enables onboard computation of real-time guidance trajectories, demonstrated by a 6-DoF Mars powered landing application problem.