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03/02/2023
PuSHR: A Multirobot System for Nonprehensile Rearrangement
We focus on the problem of rearranging a set of objects with a team of c...
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03/02/2023
From Crowd Motion Prediction to Robot Navigation in Crowds
We focus on robot navigation in crowded environments. To navigate safely...
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04/05/2022
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
During in-hand manipulation, robots must be able to continuously estimat...
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02/14/2022
Benchmarking Robot Manipulation with the Rubik's Cube
Benchmarks for robot manipulation are crucial to measuring progress in t...
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11/04/2021
Stein Variational Probabilistic Roadmaps
Efficient and reliable generation of global path plans are necessary for...
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09/15/2021
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids
We focus on the problem of analyzing multiagent interactions in traffic ...
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09/10/2021
Topology-Informed Model Predictive Control for Anticipatory Collision Avoidance on a Ballbot
We focus on the problem of planning safe and efficient motion for a ball...
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08/03/2021
Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning
For robots to operate in a three dimensional world and interact with hum...
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04/11/2021
Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning
Sampling-based motion planners rely on incremental densification to disc...
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04/02/2021
Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics
A key challenge in Imitation Learning (IL) is that optimal state actions...
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11/08/2020
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
We focus on decentralized navigation among multiple non-communicating ra...
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11/05/2020
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...
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07/31/2020
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
Chopsticks constitute a simple yet versatile tool that humans have used ...
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04/10/2020
Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids
We focus on navigation among rational, non-communicating agents at unsig...
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02/27/2020
Posterior Sampling for Anytime Motion Planning on Graphs with Expensive-to-Evaluate Edges
Collision checking is a computational bottleneck in motion planning, req...
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02/07/2020
Bayesian Residual Policy Optimization: Scalable Bayesian Reinforcement Learning with Clairvoyant Experts
Informed and robust decision making in the face of uncertainty is critic...
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09/14/2019
Towards Effective Human-AI Teams: The Case of Collaborative Packing
We focus on the problem of designing an artificial agent, capable of ass...
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09/14/2019
Towards Effective Human-AI Teams: The Case of Human-Robot Packing
We focus on the problem of designing an artificial agent capable of assi...
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08/21/2019
MuSHR: A Low-Cost, Open-Source Robotic Racecar for Education and Research
We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR...
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08/19/2019
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...
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08/19/2019
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...
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07/22/2019
LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning
We consider the problem of leveraging prior experience to generate roadm...
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06/05/2019
Robot-Assisted Feeding: Generalizing Skewering Strategies across Food Items on a Realistic Plate
A robot-assisted feeding system must successfully acquire many different...
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10/06/2018
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...
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10/01/2018
Bayesian Policy Optimization for Model Uncertainty
Addressing uncertainty is critical for autonomous systems to robustly ad...
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09/30/2018
Improved Proximity, Contact, and Force Sensing via Optimization of Elastomer-Air Interface Geometry
We describe a single fingertip-mounted sensing system for robot manipula...
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04/23/2018
Food manipulation: A cadence of haptic signals
Autonomous assistive feeding is challenging because it requires manipula...
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11/10/2017
Anytime Motion Planning on Large Dense Roadmaps with Expensive Edge Evaluations
We propose an algorithmic framework for efficient anytime motion plannin...
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10/14/2017
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...
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10/11/2017
The Provable Virtue of Laziness in Motion Planning
The Lazy Shortest Path (LazySP) class consists of motion-planning algori...
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10/02/2017