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03/25/2023
Resolution Complete In-Place Object Retrieval given Known Object Models
This work proposes a robot task planning framework for retrieving a targ...
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11/15/2022
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning
Sampling-based methods are widely adopted solutions for robot motion pla...
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10/04/2022
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees
This paper proposes an integration of surrogate modeling and topology to...
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10/04/2022
Persistent Homology Guided Monte-Carlo Tree Search for Effective Non-Prehensile Manipulation
Performing object retrieval tasks in messy real-world workspaces involve...
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02/17/2022
Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers
Understanding the global dynamics of a robot controller, such as identif...
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01/06/2022
Data-Efficient Learning of High-Quality Controls for Kinodynamic Planning used in Vehicular Navigation
This paper aims to improve the path quality and computational efficiency...
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10/24/2021
Fast High-Quality Tabletop Rearrangement in Bounded Workspace
In this paper, we examine the problem of rearranging many objects on a t...
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10/08/2021
Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers
This paper aims to improve the path quality and computational efficiency...
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01/28/2021
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Object rearrangement is a widely-applicable and challenging task for rob...
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08/11/2020
Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses
Picking an item in the presence of other objects can be challenging as i...
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07/27/2020
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Tracking the 6D pose of objects in video sequences is important for robo...
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05/18/2020
Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints
Solving task planning problems involving multiple objects and multiple r...
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03/07/2020
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
Many manipulation tasks, such as placement or within-hand manipulation, ...
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11/11/2019
Asymptotically Optimal Sampling-based Planners
An asymptotically optimal sampling-based planner employs sampling to sol...
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09/12/2019
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning
We present RRT2.0: a simple yet efficient tree-based planner for asympto...
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07/18/2019
Towards Learning Efficient Maneuver Sets for Kinodynamic Motion Planning
Planning for systems with dynamics is challenging as often there is no l...
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05/08/2019
Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs
Automation applications are pushing the deployment of many high DoF mani...
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03/03/2019
Pushing the Boundaries of Asymptotic Optimality for Sampling-based Roadmaps In Motion And Task Planning
Sampling-based roadmaps have been popular methods for robot motion and t...
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03/03/2019
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning
Many exciting robotic applications require multiple robots with many deg...
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03/03/2019
Towards Robust Product Packing with a Minimalistic End-Effector
Advances in sensor technologies, object detection algorithms, planning f...
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09/27/2018
Adaptive Tensegrity Locomotion on Rough Terrain via Reinforcement Learning
The dynamical properties of tensegrity robots give them appealing rugged...
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09/19/2018
Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
The Rapidly-exploring Random Tree (RRT) algorithm has been one of the mo...
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04/12/2018
Efficient Model Identification for Tensegrity Locomotion
This paper aims to identify in a practical manner unknown physical param...
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11/17/2017
Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
This paper studies the underlying combinatorial structure of a class of ...
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10/24/2017
Model Identification via Physics Engines for Improved Policy Search
This paper presents a practical approach for identifying unknown mechani...
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10/24/2017
Improving 6D Pose Estimation of Objects in Clutter via Physics-aware Monte Carlo Tree Search
This work proposes a process for efficiently searching over combinations...
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06/29/2017
Scalable Asymptotically-Optimal Multi-Robot Motion Planning
Finding asymptotically-optimal paths in multi-robot motion planning prob...
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03/09/2017
A Self-supervised Learning System for Object Detection using Physics Simulation and Multi-view Pose Estimation
Progress has been achieved recently in object detection given advancemen...
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09/03/2015