Mustafa Mukadam | DeepAI

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∙ 05/11/2023

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment

Scaling to arbitrarily large bundle adjustment problems requires data an...

0 Taosha Fan, et al. ∙

∙ 04/24/2023

USA-Net: Unified Semantic and Affordance Representations for Robot Memory

In order for robots to follow open-ended instructions like "go open the ...

0 Benjamin Bolte, et al. ∙

∙ 04/03/2023

Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models

Simulating vision-based tactile sensors enables learning models for cont...

0 Carolina Higuera, et al. ∙

∙ 11/04/2022

Neural Grasp Distance Fields for Robot Manipulation

We formulate grasp learning as a neural field and present Neural Grasp D...

0 Thomas Weng, et al. ∙

∙ 10/25/2022

MidasTouch: Monte-Carlo inference over distributions across sliding touch

We present MidasTouch, a tactile perception system for online global loc...

0 Sudharshan Suresh, et al. ∙

∙ 10/17/2022

Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing

We present Neural Contact Fields, a method that brings together neural f...

5 Carolina Higuera, et al. ∙

∙ 10/11/2022

In-Hand Gravitational Pivoting Using Tactile Sensing

We study gravitational pivoting, a constrained version of in-hand manipu...

0 Jason Toskov, et al. ∙

∙ 07/19/2022

Theseus: A Library for Differentiable Nonlinear Optimization

We present Theseus, an efficient application-agnostic open source librar...

24 Luis Pineda, et al. ∙

∙ 07/11/2022

TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs

3D scene graphs (3DSGs) are an emerging description; unifying symbolic, ...

6 Christopher Agia, et al. ∙

∙ 04/05/2022

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

We present iSDF, a continual learning system for real-time signed distan...

3 Joseph Ortiz, et al. ∙

∙ 11/15/2021

PatchGraph: In-hand tactile tracking with learned surface normals

We address the problem of tracking 3D object poses from touch during in-...

0 Paloma Sodhi, et al. ∙

∙ 08/04/2021

LEO: Learning Energy-based Models in Graph Optimization

We address the problem of learning observation models end-to-end for est...

0 Paloma Sodhi, et al. ∙

∙ 06/28/2021

Habitat 2.0: Training Home Assistants to Rearrange their Habitat

We introduce Habitat 2.0 (H2.0), a simulation platform for training virt...

25 Andrew Szot, et al. ∙

∙ 05/28/2021

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation

We propose a novel sparse constrained formulation and from it derive a r...

0 Taosha Fan, et al. ∙

∙ 12/07/2020

Learning Tactile Models for Factor Graph-based State Estimation

We address the problem of estimating object pose from touch during manip...

0 Paloma Sodhi, et al. ∙

∙ 11/19/2020

Batteries, camera, action! Learning a semantic control space for expressive robot cinematography

Aerial vehicles are revolutionizing the way film-makers can capture shot...

0 Rogerio Bonatti, et al. ∙

∙ 11/13/2020

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning

Among the most prevailing motion planning techniques, sampling and traje...

0 Kalyan Vasudev Alwala, et al. ∙

∙ 07/25/2020

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies

Generating robot motion for multiple tasks in dynamic environments is ch...

0 Ching-An Cheng, et al. ∙

∙ 01/24/2020

Encoding Physical Constraints in Differentiable Newton-Euler Algorithm

The recursive Newton-Euler Algorithm (RNEA) is a popular technique in ro...

0 Giovanni Sutanto, et al. ∙

∙ 10/07/2019

Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping

RMPflow is a recently proposed policy-fusion framework based on differen...

9 Mustafa Mukadam, et al. ∙

∙ 08/01/2019

Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference

Efficient planning in dynamic and uncertain environments is a fundamenta...

0 Keshav Kolur, et al. ∙

∙ 07/22/2019

Differentiable Gaussian Process Motion Planning

Modern trajectory optimization based approaches to motion planning are f...

0 Mohak Bhardwaj, et al. ∙

∙ 03/08/2019

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing

To perform complex tasks, robots must be able to interact with and manip...

0 Alexander Lambert, et al. ∙

∙ 02/14/2019

Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies

In the multi-robot systems literature, control policies are typically ob...

0 Anqi Li, et al. ∙

∙ 11/16/2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation

We develop a novel policy synthesis algorithm, RMPflow, based on geometr...

0 Ching-An Cheng, et al. ∙

∙ 08/01/2018

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments

Learning from Demonstration (LfD) is a popular approach to endowing robo...

0 Muhammad Asif Rana, et al. ∙

∙ 07/27/2018

STEAP: simultaneous trajectory estimation and planning

We present a unified probabilistic framework for simultaneous trajectory...

0 Mustafa Mukadam, et al. ∙

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