research
∙
10/16/2022
Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
Integrating the heterogeneous controllers of a complex mechanical system...
share
research
∙
09/20/2022
Towards Task-Prioritized Policy Composition
Combining learned policies in a prioritized, ordered manner is desirable...
research
∙
09/18/2022
A Stack-of-Tasks Approach Combined with Behavior Trees: a New Framework for Robot Control
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a ...
research
∙
05/13/2020
The effect of Target Normalization and Momentum on Dying ReLU
Optimizing parameters with momentum, normalizing data values, and using ...
research
∙
02/12/2020
Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data
Creating maps is an essential task in robotics and provides the basis fo...
research
∙
12/15/2019
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
In this work, we address a planar non-prehensile sorting task. Here, a r...
research
∙
03/09/2019
Data-Driven Model Predictive Control for Food-Cutting
Modelling of contact-rich tasks is challenging and cannot be entirely so...
research
∙
10/10/2018
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation
We develop an approach that benefits from large simulated datasets and t...
research
∙
09/12/2018
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Moving a human body or a large and bulky object can require the strength...
research
∙
09/10/2018
VPE: Variational Policy Embedding for Transfer Reinforcement Learning
Reinforcement Learning methods are capable of solving complex problems, ...
research
∙
03/15/2018