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08/26/2023
Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning
Kinodynamic motion planners allow robots to perform complex manipulation...
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08/23/2023
Constrained Stein Variational Trajectory Optimization
We present Constrained Stein Variational Trajectory Optimization (CSVTO)...
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05/23/2023
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Reasoning over the interplay between object deformation and force transm...
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05/14/2023
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
This paper proposes a novel method for estimating the set of plausible p...
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03/09/2023
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification
To make robots accessible to a broad audience, it is critical to endow t...
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10/07/2022
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
Many manipulation tasks require the robot to control the contact between...
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09/28/2022
Focused Adaptation of Dynamics Models for Deformable Object Manipulation
In order to efficiently learn a dynamics model for a task in a new envir...
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09/27/2022
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Collocated tactile sensing is a fundamental enabling technology for dext...
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06/14/2022
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory
We present a motion planning algorithm for a class of uncertain control-...
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05/10/2022
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection
We propose a Model Predictive Control (MPC) method for collision-free na...
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05/05/2022
Data Augmentation for Manipulation
The success of deep learning depends heavily on the availability of larg...
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01/25/2022
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
Retrieving an object from cluttered spaces suchas cupboards, refrigerato...
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12/08/2021
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations
We propose a method for learning constraints represented as Gaussian pro...
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10/17/2021
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact
Robots need both visual and contact sensing to effectively estimate the ...
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04/18/2021
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems
We present a method for contraction-based feedback motion planning of lo...
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04/01/2021
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation
Despite rapid progress in scene segmentation in recent years, 3D segment...
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02/04/2021
Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models
When manipulating a novel object with complex dynamics, a state represen...
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01/04/2021
Occlusion-robust Deformable Object Tracking without Physics Simulation
Estimating the state of a deformable object is crucial for robotic manip...
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11/18/2020
Diverse Plausible Shape Completions from Ambiguous Depth Images
We propose PSSNet, a network architecture for generating diverse plausib...
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11/09/2020
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations
We present a method for learning to satisfy uncertain constraints from d...
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11/01/2020
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints
In order to manipulate a deformable object, such as rope or cloth, in un...
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10/23/2020
TAMPC: A Controller for Escaping Traps in Novel Environments
We propose an approach to online model adaptation and control in the cha...
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10/18/2020
Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants
We present an approach for feedback motion planning of systems with unkn...
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06/03/2020
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations
We present a method for learning multi-stage tasks from demonstrations b...
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05/11/2020
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations
Many methods in learning from demonstration assume that the demonstrator...
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02/12/2020
Fast Planning Over Roadmaps via Selective Densification
We propose the Selective Densification method for fast motion planning t...
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01/29/2020
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces
When the dynamics of a system are difficult to model and/or time-consumi...
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01/27/2020
Manipulating Deformable Objects by Interleaving Prediction, Planning, and Control
We present a framework for deformable object manipulation that interleav...
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01/25/2020
Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty
We present an algorithm for learning parametric constraints from locally...
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10/08/2019
Learning Parametric Constraints in High Dimensions from Demonstrations
We present a scalable algorithm for learning parametric constraints in h...
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09/19/2019
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction
Humanoid robots maintain balance and navigate by controlling the contact...
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07/20/2019
Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Clutter
Object search -- the problem of finding a target object in a cluttered s...
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12/17/2018
Learning Constraints from Demonstrations
We extend the learning from demonstration paradigm by providing a method...
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10/31/2018
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction
Humanoid robots dynamically navigate an environment by interacting with ...
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03/29/2017