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09/15/2023
Geometric Projectors: Geometric Constraints based Optimization for Robot Behaviors
Generating motion for robots that interact with objects of various shape...
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07/02/2023
Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation
In this work, we propose to learn robot geometry as distance fields (RDF...
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06/30/2023
Projection-based first-order constrained optimization solver for robotics
Robot programming tools ranging from inverse kinematics (IK) to model pr...
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06/29/2023
Whole-Body Exploration with a Manipulator Using Heat Equation
This paper presents a whole-body robot control method for exploring and ...
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06/22/2023
SoftGPT: Learn Goal-oriented Soft Object Manipulation Skills by Generative Pre-trained Heterogeneous Graph Transformer
Soft object manipulation tasks in domestic scenes pose a significant cha...
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06/07/2023
Online Multi-Contact Receding Horizon Planning via Value Function Approximation
Planning multi-contact motions in a receding horizon fashion requires a ...
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05/19/2023
Contact Optimization with Learning from Demonstration: Application in Long-term Non-prehensile Planar Manipulation
Long-term non-prehensile planar manipulation is a challenging task for p...
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12/24/2022
Demonstration-guided Optimal Control for Long-term Non-prehensile Planar Manipulation
Long-term non-prehensile planar manipulation is a challenging task for r...
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12/14/2022
Geometric Algebra for Optimal Control with Applications in Manipulation Tasks
Many problems in robotics are fundamentally problems of geometry, which ...
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10/08/2022
VP-STO: Via-point-based Stochastic Trajectory Optimization for Reactive Robot Behavior
Achieving reactive robot behavior in complex dynamic environments is sti...
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09/23/2022
Reactive Anticipatory Robot Skills with Memory
Optimal control in robotics has been increasingly popular in recent year...
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06/10/2022
Tensor Train for Global Optimization Problems in Robotics
The convergence of many numerical optimization techniques is highly sens...
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05/12/2022
Robot Cooking with Stir-fry: Bimanual Non-prehensile Manipulation of Semi-fluid Objects
This letter describes an approach to achieve well-known Chinese cooking ...
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03/02/2022
Imitation of Manipulation Skills Using Multiple Geometries
Daily manipulation tasks are characterized by regular characteristics as...
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07/05/2021
Online and Offline Robot Programming via Augmented Reality Workspaces
Robot programming methods for industrial robots are time consuming and o...
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04/21/2021
Mixture Models for the Analysis, Edition, and Synthesis of Continuous Time Series
This chapter presents an overview of techniques used for the analysis, e...
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01/12/2021
Ergodic Exploration using Tensor Train: Applications in Insertion Tasks
By generating control policies that create natural search behaviors in a...
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12/11/2020
Probabilistic Iterative LQR for Short Time Horizon MPC
Optimal control is often used in robotics for planning a trajectory to a...
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12/11/2020
Motion Mappings for Continuous Bilateral Teleoperation
Mapping operator motions to a robot is a key problem in teleoperation. D...
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11/11/2020
Generative Adversarial Network to Learn Valid Distributions of Robot Configurations for Inverse Kinematics and Constrained Motion Planning
In high dimensional robotic system, the manifold of the valid configurat...
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11/06/2020
Generative adversarial training of product of policies for robust and adaptive movement primitives
In learning from demonstrations, many generative models of trajectories ...
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11/03/2020
A Laser-based Dual-arm System for Precise Control of Collaborative Robots
Collaborative robots offer increased interaction capabilities at relativ...
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10/07/2020
Learning from demonstration using products of experts: applications to manipulation and task prioritization
Probability distributions are key components of many learning from demon...
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08/06/2020
Active Improvement of Control Policies with Bayesian Gaussian Mixture Model
Learning from demonstration (LfD) is an intuitive framework allowing non...
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08/04/2020
Analysis and Transfer of Human Movement Manipulability in Industry-like Activities
Humans exhibit outstanding learning, planning and adaptation capabilitie...
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07/01/2020
Interaction-limited Inverse Reinforcement Learning
This paper proposes an inverse reinforcement learning (IRL) framework to...
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03/04/2020
Learning,Generating and Adapting Wave Gestures for Expressive Human-Robot Interaction
This study proposes a novel imitation learning approach for the stochast...
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01/31/2020
A memory of motion for visual predictive control tasks
This paper addresses the problem of efficiently achieving visual predict...
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01/31/2020
Using a memory of motion to efficiently achieve visual predictive control tasks
This paper addresses the problem of efficiently achieving visual predict...
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01/31/2020
Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion
In this paper, we propose a framework to build a memory of motion to war...
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10/11/2019
Learning from demonstration with model-based Gaussian process
In learning from demonstrations, it is often desirable to adapt the beha...
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10/11/2019
Bayesian Optimization Meets Riemannian Manifolds in Robot Learning
Bayesian optimization (BO) recently became popular in robotics to optimi...
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09/12/2019
Gaussians on Riemannian Manifolds for Robot Learning and Adaptive Control
This paper presents an overview of robot learning and adaptive control a...
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07/02/2019
Memory of Motion for Warm-starting Trajectory Optimization
Trajectory optimization for motion planning requires a good initial gues...
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05/23/2019
Nullspace Structure in Model Predictive Control
Robotic tasks can be accomplished by exploiting different forms of redun...
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05/23/2019
Variational Inference with Mixture Model Approximation: Robotic Applications
We propose a method to approximate the distribution of robot configurati...
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04/24/2019
Bayesian Gaussian mixture model for robotic policy imitation
A common approach to learn robotic skills is to imitate a policy demonst...
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02/28/2019
Tensor-variate Mixture of Experts
When data are organized in matrices or arrays of higher dimensions (tens...
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02/19/2019
Improving dual-arm assembly by master-slave compliance
In this paper we show how different choices regarding compliance affect ...
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11/27/2018
Geometry-aware Manipulability Transfer
Body posture influences human and robots performance in manipulation tas...
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11/19/2018
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
Generalizing manipulation skills to new situations requires extracting i...
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07/06/2018
A survey on policy search algorithms for learning robot controllers in a handful of trials
Most policy search algorithms require thousands of training episodes to ...
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12/19/2017