
-
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
We focus on decentralized navigation among multiple non-communicating ra...
read it
-
Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding
Autonomous robot-assisted feeding requires the ability to acquire a wide...
read it
-
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
Chopsticks constitute a simple yet versatile tool that humans have used ...
read it
-
Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids
We focus on navigation among rational, non-communicating agents at unsig...
read it
-
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Collision checking is a computational bottleneck in motion planning, req...
read it
-
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Informed and robust decision making in the face of uncertainty is critic...
read it
-
Towards Effective Human-AI Teams: The Case of Collaborative Packing
We focus on the problem of designing an artificial agent, capable of ass...
read it
-
Towards Effective Human-AI Teams: The Case of Human-Robot Packing
We focus on the problem of designing an artificial agent capable of assi...
read it
-
MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research
We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR...
read it
-
Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously-Unseen Food Items
Successful robot-assisted feeding requires bite acquisition of a wide va...
read it
-
Learning from failures in robot-assisted feeding: Using online learning to develop manipulation strategies for bite acquisition
Successful robot-assisted feeding requires bite acquisition of a wide va...
read it
-
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning
We consider the problem of leveraging prior experience to generate roadm...
read it
-
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate
A robot-assisted feeding system must successfully acquire many different...
read it
-
Bayes-CPACE: PAC Optimal Exploration in Continuous Space Bayes-Adaptive Markov Decision Processes
We present the first PAC optimal algorithm for Bayes-Adaptive Markov Dec...
read it
-
Bayesian Policy Optimization for Model Uncertainty
Addressing uncertainty is critical for autonomous systems to robustly ad...
read it
-
Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry
We describe a single fingertip-mounted sensing system for robot manipula...
read it
-
Food manipulation: A cadence of haptic signals
Autonomous assistive feeding is challenging because it requires manipula...
read it
-
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
We propose an algorithmic framework for efficient anytime motion plannin...
read it
-
Hybrid DDP in Clutter (CHDDP): Trajectory Optimization for Hybrid Dynamical System in Cluttered Environments
We present an algorithm for obtaining an optimal control policy for hybr...
read it
-
The Provable Virtue of Laziness in Motion Planning
The Lazy Shortest Path (LazySP) class consists of motion-planning algori...
read it
-
Unsupervised Learning for Nonlinear PieceWise Smooth Hybrid Systems
This paper introduces a novel system identification and tracking method ...
read it