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07/04/2023
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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06/23/2023
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
The small size, high dexterity, and intrinsic compliance of continuum ro...
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01/05/2023
A Distance-Geometric Method for Recovering Robot Joint Angles From an RGB Image
Autonomous manipulation systems operating in domains where human interve...
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09/19/2022
One Network, Many Robots: Generative Graphical Inverse Kinematics
Quickly and reliably finding accurate inverse kinematics (IK) solutions ...
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01/03/2022
On Automating Triangle Constructions in Absolute and Hyperbolic Geometry
We describe first steps towards a system for automated triangle construc...
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12/28/2021
A proof system for graph (non)-isomorphism verification
In order to be able to apply graph isomorphism checking within interacti...
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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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08/31/2021
Riemannian Optimization for Distance Geometric Inverse Kinematics
Solving the inverse kinematics problem is a fundamental challenge in mot...
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03/09/2021
A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots
Articulated robots such as manipulators increasingly must operate in unc...
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11/10/2020
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
The majority of inverse kinematics (IK) algorithms search for solutions ...
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10/30/2020
Formalizing IMO Problems and Solutions in Isabelle/HOL
The International Mathematical Olympiad (IMO) is perhaps the most celebr...
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08/18/2020
Heteroscedastic Uncertainty for Robust Generative Latent Dynamics
Learning or identifying dynamics from a sequence of high-dimensional obs...
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07/01/2020
Fighting Failures with FIRE: Failure Identification to Reduce Expert Burden in Intervention-Based Learning
Supervised imitation learning, also known as behavior cloning, suffers f...
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09/20/2019
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Inverse kinematics is a fundamental problem for articulated robots: fast...
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08/08/2019
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
A significant challenge in manipulation motion planning is to ensure agi...
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04/02/2019
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Estimating unknown rotations from noisy measurements is an important ste...
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02/23/2019
Fully Automatic, Verified Classification of all Frankl-Complete (FC(6)) Set Families
The Frankl's conjecture, formulated in 1979. and still open, states that...
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03/26/2018
Singularity Avoidance as Manipulability Maximization Using Continuous Time Gaussian Processes
A significant challenge in motion planning is to avoid being in or near ...
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03/16/2018
Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction
We present a novel approach for mobile manipulator self-calibration usin...
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01/23/2018
Computer-Assisted Proving of Combinatorial Conjectures Over Finite Domains: A Case Study of a Chess Conjecture
There are several approaches for using computers in deriving mathematica...
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05/08/2015
Short Portfolio Training for CSP Solving
Many different approaches for solving Constraint Satisfaction Problems (...
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07/01/2011
