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06/10/2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Complex dexterous manipulations require switching between prehensile and...
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05/18/2023
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
We address the problem of teleoperating an industrial robot manipulator ...
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03/23/2023
Covariance Steering for Uncertain Contact-rich Systems
Planning and control for uncertain contact systems is challenging as it ...
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03/15/2023
Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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03/10/2023
Tactile-Filter: Interactive Tactile Perception for Part Mating
Humans rely on touch and tactile sensing for a lot of dexterous manipula...
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03/06/2023
Simultaneous Tactile Estimation and Control of Extrinsic Contact
We propose a method that simultaneously estimates and controls extrinsic...
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01/17/2023
Tactile Tool Manipulation
Humans can effortlessly perform very complex, dexterous manipulation tas...
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12/02/2022
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Robots have been steadily increasing their presence in our daily lives, ...
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10/23/2022
Active Exploration for Robotic Manipulation
Robotic manipulation stands as a largely unsolved problem despite signif...
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09/28/2022
Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills
Dynamic movement primitives are widely used for learning skills which ca...
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04/22/2022
Design of Adaptive Compliance Controllers for Safe Robotic Assembly
Insertion operations are a critical element of most robotic assembly ope...
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03/22/2022
Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization
Generalizable manipulation requires that robots be able to interact with...
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03/18/2022
PYROBOCOP: Python-based Robotic Control Optimization Package for Manipulation
PYROBOCOP is a Python-based package for control, optimization and estima...
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03/05/2022
Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation
This paper presents a chance-constrained formulation for robust trajecto...
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11/20/2021
Imitation and Supervised Learning of Compliance for Robotic Assembly
We present the design of a learning-based compliance controller for asse...
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06/06/2021
PYROBOCOP : Python-based Robotic Control Optimization Package for Manipulation and Collision Avoidance
PYROBOCOP is a lightweight Python-based package for control and optimiza...
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06/06/2021
Distributed Task Allocation in Homogeneous Swarms Using Language Measure Theory
In this paper, we present algorithms for synthesizing controllers to dis...
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06/02/2021
Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units
This paper presents a novel trajectory optimization formulation to solve...
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04/02/2021
Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry
Object insertion is a classic contact-rich manipulation task. The task r...
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03/20/2021
Markov Modeling of Time-Series Data using Symbolic Analysis
Markov models are often used to capture the temporal patterns of sequent...
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02/16/2021
Training Larger Networks for Deep Reinforcement Learning
The success of deep learning in the computer vision and natural language...
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11/14/2020
Towards Human-Level Learning of Complex Physical Puzzles
Humans quickly solve tasks in novel systems with complex dynamics, witho...
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10/31/2020
Deep Reactive Planning in Dynamic Environments
The main novelty of the proposed approach is that it allows a robot to l...
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07/22/2020
Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks
One of the main challenges in peg-in-a-hole (PiH) insertion tasks is in ...
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03/26/2020
CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context
Learning accurate models of the physical world is required for a lot of ...
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03/03/2020
Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path
In this paper, we consider the problem of building learning agents that ...
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03/03/2020
Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?
Deep reinforcement learning (RL) algorithms have recently achieved remar...
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02/25/2020
Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements
In this paper, we propose a derivative-free model learning framework for...
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01/27/2020
Multi-label Prediction in Time Series Data using Deep Neural Networks
This paper addresses a multi-label predictive fault classification probl...
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01/22/2020
Local Policy Optimization for Trajectory-Centric Reinforcement Learning
The goal of this paper is to present a method for simultaneous trajector...
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07/03/2019
Safe Approximate Dynamic Programming Via Kernelized Lipschitz Estimation
We develop a method for obtaining safe initial policies for reinforcemen...
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05/15/2019
Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function
Computing Nash equilibrium (NE) of multi-player games has witnessed rene...
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03/13/2019
Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning
In this paper, we propose a reinforcement learning-based algorithm for t...
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09/26/2017