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06/13/2023
Fast-Grasp'D: Dexterous Multi-finger Grasp Generation Through Differentiable Simulation
Multi-finger grasping relies on high quality training data, which is har...
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08/25/2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands
The study of hand-object interaction requires generating viable grasp po...
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03/19/2022
DiSECt: A Differentiable Simulator for Parameter Inference and Control in Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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09/18/2021
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
To accurately reproduce measurements from the real world, simulators nee...
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05/25/2021
DiSECt: A Differentiable Simulation Engine for Autonomous Robotic Cutting
Robotic cutting of soft materials is critical for applications such as f...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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11/09/2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Differentiable simulators provide an avenue for closing the sim-to-real ...
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07/12/2020
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
We present a differentiable simulation architecture for articulated rigi...
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06/29/2020
Confidence-rich grid mapping
Representing the environment is a fundamental task in enabling robots to...
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03/07/2020
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots
Planning smooth and energy-efficient motions for wheeled mobile robots i...
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03/03/2020
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, an...
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01/22/2020
Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics
A key ingredient to achieving intelligent behavior is physical understan...
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12/03/2019
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Light Detection and Ranging (LIDAR) sensors play an important role in th...
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05/26/2019
Interactive Differentiable Simulation
Intelligent agents need a physical understanding of the world to predict...
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10/04/2018
Zero-Shot Skill Composition and Simulation-to-Real Transfer by Learning Task Representations
Simulation-to-real transfer is an important strategy for making reinforc...
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09/29/2018
Auto-conditioned Recurrent Mixture Density Networks for Complex Trajectory Generation
Recent advancements in machine learning research have given rise to recu...
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09/26/2018