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NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Differentiable simulators provide an avenue for closing the sim-to-real ...
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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments
Deep reinforcement learning (RL) agents are able to learn contact-rich m...
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Learning Equality Constraints for Motion Planning on Manifolds
Constrained robot motion planning is a widely used technique to solve co...
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Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
We propose a framework for resilience in a networked heterogeneous multi...
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Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
We present a differentiable simulation architecture for articulated rigi...
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Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed
Robots need to be able to adapt to unexpected changes in the environment...
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Confidence-rich grid mapping
Representing the environment is a fundamental task in enabling robots to...
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Learning Manifolds for Sequential Motion Planning
Motion planning with constraints is an important part of many real-world...
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Sampling-Based Motion Planning on Manifold Sequences
We address the problem of planning robot motions in constrained configur...
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Plan-Space State Embeddings for Improved Reinforcement Learning
Robot control problems are often structured with a policy function that ...
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Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation
One of the great promises of robot learning systems is that they will be...
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Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration
We address the problem of maintaining resource availability in a network...
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On Localizing a Camera from a Single Image
Public cameras often have limited metadata describing their attributes. ...
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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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Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics
A key ingredient to achieving intelligent behavior is physical understan...
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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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Resilient Coverage: Exploring the Local-to-Global Trade-off
We propose a centralized control framework to select suitable robots fro...
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Resilience in multi-robot target tracking through reconfiguration
We address the problem of maintaining resource availability in a network...
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Interactive Differentiable Simulation
Intelligent agents need a physical understanding of the world to predict...
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Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams
We propose a method to maintain high resource in a networked heterogeneo...
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Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors
Quadrotor stabilizing controllers often require careful, model-specific ...
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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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Planning Safe Paths through Hazardous Environments
Autonomous underwater vehicles (AUVs) are robotic platforms that are com...
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A Spatio-Temporal Representation for the Orienteering Problem with Time-Varying Profits
We consider an orienteering problem (OP) where an agent needs to visit a...
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Informative Planning and Online Learning with Sparse Gaussian Processes
A big challenge in environmental monitoring is the spatiotemporal variat...
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Active Classification: Theory and Application to Underwater Inspection
We discuss the problem in which an autonomous vehicle must classify an o...
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