An RL policy trained in Isaac Gym and tested in Gazebo and on a real DAA V1 wheelchair translates 2D joystick commands into collision-free 3D motion for a holonomic wheelchair.
Probabilistic vs linear blending approaches to shared control for wheelchair driving,
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Shared Control of Holonomic Wheelchairs through Reinforcement Learning
An RL policy trained in Isaac Gym and tested in Gazebo and on a real DAA V1 wheelchair translates 2D joystick commands into collision-free 3D motion for a holonomic wheelchair.