Nicholas Roy | DeepAI

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∙ 05/26/2023

Structured Latent Variable Models for Articulated Object Interaction

In this paper, we investigate a scenario in which a robot learns a low-d...

0 Emily Liu, et al. ∙

∙ 06/03/2022

Robotic Planning under Uncertainty in Spatiotemporal Environments in Expeditionary Science

In the expeditionary sciences, spatiotemporally varying environments – h...

0 Victoria Preston, et al. ∙

∙ 02/03/2022

Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments

We describe a task and motion planning architecture for highly dynamic s...

0 Vasileios Vasilopoulos, et al. ∙

∙ 10/28/2021

From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence

Machine learning has long since become a keystone technology, accelerati...

46 Nicholas Roy, et al. ∙

∙ 09/08/2021

Convex Iteration for Distance-Geometric Inverse Kinematics

Inverse kinematics (IK) is the problem of finding robot joint configurat...

0 Matthew Giamou, et al. ∙

∙ 07/01/2021

Active Learning of Abstract Plan Feasibility

Long horizon sequential manipulation tasks are effectively addressed hie...

7 Michael Noseworthy, et al. ∙

∙ 05/21/2021

Language Understanding for Field and Service Robots in a Priori Unknown Environments

Contemporary approaches to perception, planning, estimation, and control...

6 Matthew R. Walter, et al. ∙

∙ 04/21/2021

Learning and Planning for Temporally Extended Tasks in Unknown Environments

We propose a novel planning technique for satisfying tasks specified in ...

0 Christopher Bradley, et al. ∙

∙ 03/26/2021

Reactive Task and Motion Planning under Temporal Logic Specifications

We present a task-and-motion planning (TAMP) algorithm robust against a ...

0 Shen Li, et al. ∙

∙ 06/06/2020

Visual Prediction of Priors for Articulated Object Interaction

Exploration in novel settings can be challenging without prior experienc...

0 Caris Moses, et al. ∙

∙ 06/01/2020

A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty

Accurate rotation estimation is at the heart of robot perception tasks s...

34 Valentin Peretroukhin, et al. ∙

∙ 03/31/2020

Enabling Topological Planning with Monocular Vision

Topological strategies for navigation meaningfully reduce the space of p...

0 Gregory J. Stein, et al. ∙

∙ 09/26/2019

Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments

We present PLUMES, a planner to localizing and collecting samples at the...

0 Genevieve Flaspohler, et al. ∙

∙ 08/28/2019

Search and Rescue under the Forest Canopy using Multiple UAVs

We present a multi-robot system for GPS-denied search and rescue under t...

0 Yulun Tian, et al. ∙

∙ 11/16/2018

Temporal Grounding Graphs for Language Understanding with Accrued Visual-Linguistic Context

A robot's ability to understand or ground natural language instructions ...

0 Rohan Paul, et al. ∙

∙ 06/03/2018

Admissible Abstractions for Near-optimal Task and Motion Planning

We define an admissibility condition for abstractions expressed using an...

0 William Vega-Brown, et al. ∙

∙ 11/30/2017

Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models

The gap between our ability to collect interesting data and our ability ...

0 Genevieve Flaspohler, et al. ∙

∙ 11/29/2017

Generalized Grounding Graphs: A Probabilistic Framework for Understanding Grounded Commands

Many task domains require robots to interpret and act upon natural langu...

1 Thomas Kollar, et al. ∙

∙ 11/29/2017

Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics

We consider the task of monitoring spatiotemporal phenomena in real-time...

0 Genevieve Flaspohler, et al. ∙

∙ 10/11/2017

GeneSIS-RT: Generating Synthetic Images for training Secondary Real-world Tasks

We propose a novel approach for generating high-quality, synthetic data ...

0 Gregory J. Stein, et al. ∙

∙ 08/01/2017

PROBE-GK: Predictive Robust Estimation using Generalized Kernels

Many algorithms in computer vision and robotics make strong assumptions ...

0 Valentin Peretroukhin, et al. ∙

∙ 05/12/2014

Structural Return Maximization for Reinforcement Learning

Batch Reinforcement Learning (RL) algorithms attempt to choose a policy ...

0 Joshua Joseph, et al. ∙

∙ 01/18/2014

Modelling Observation Correlations for Active Exploration and Robust Object Detection

Today, mobile robots are expected to carry out increasingly complex task...

0 Javier Velez, et al. ∙

∙ 01/16/2014

Efficient Planning under Uncertainty with Macro-actions

Deciding how to act in partially observable environments remains an acti...

0 Ruijie He, et al. ∙

∙ 09/26/2013

Batch-iFDD for Representation Expansion in Large MDPs

Matching pursuit (MP) methods are a promising class of feature construct...

0 Alborz Geramifard, et al. ∙

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