Mehak Singal

RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC

Ruochen Hou, Shiqi Wang, Beom Jun Kim, Hanzhang Fang, Mehak Singal, Dennis W. Hong

Humanoid navigation in dynamic environments requires long-horizon planning while respecting short-horizon dynamic and safety constraints. Classical visibility-graph planners combined with model predictive control (MPC) can efficiently generate collision-free trajectories, but the…Read more