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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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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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12/11/2020
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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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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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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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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05/18/2019
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints
In this paper, we propose SCALAR, a calibration method to simultaneously...
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03/02/2018