DWA
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Related Articles from SNS
3D RL-DWA: A Hybrid Reinforcement Learning and Dynamic Window Approach for Goal-Directed Local Navigation in Multi-DoF Robots
Announce Type: replace Abstract: In this paper, we present a novel hybrid approach that combines Reinforcement Learning (RL) with Dynamic Window Approach (DWA) for adaptive 3D local navigation of high-degree-of-freedom robotic systems. Our method leverages sparse point cloud data to dynamically adjust both the motion and the shape of a deformable microrobot, enabling the system to navigate toward a goal in complex, constrained environments while maximizing the occupied volume. We evaluate...
Learning-Based Navigation for Indoor Mobile Robots
arXiv:2605.30468v1 Announce Type: new Abstract: This paper presents a learning-based navigation framework for indoor mobile robots. The proposed method combines a supervised neural global planner, trained from cost-aware A* expert trajectories, with the proposed Learning-Based DWA local planner, which is formulated as discrete candidate selection over the Dynamic Window Approach (DWA) action lattice. For local planning, the policy is first trained by behavior cloning and then refined by...
Stable Geometry, Reversing Poles: The Bipolar Structure of AI Occupational Substitutability and Its Decade-Scale Inversion
arXiv:2606.07939v1 Announce Type: new Abstract: Empirical research on the labor-market impact of artificial intelligence has converged, since Frey and Osborne (2017), on a continuous-gradient representation in which each occupation is assigned a real-valued exposure score on [0,1] obtained by linear aggregation across capability dimensions. This continuity is rarely articulated as an assumption and has not been tested at the micro-action level where substitution actually occurs. We decompose...
Autonomous Navigation System for Library Service Robot Based on Unitree Go2 Edu
arXiv:2606.03340v1 Announce Type: new Abstract: Libraries require autonomous robots to move quietly through narrow aisles while remaining safe around readers, chairs, bags, and carts. This paper presents a ROS 2 navigation system for a Unitree Go2 Edu quadruped equipped with a 4D LiDAR, a front depth camera, and an IMU. Rather than assuming the library is rough terrain, we target the practical mobility discontinuities of real deployments, including floor transitions, temporary clutter, and...