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09/14/2023
Fabrics: A Foundationally Stable Medium for Encoding Prior Experience
Most dynamics functions are not well-aligned to task requirements. Contr...
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05/07/2021
CoDE: Collocation for Demonstration Encoding
Roboticists frequently turn to Imitation learning (IL) for data efficien...
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04/28/2021
Fast Joint Space Model-Predictive Control for Reactive Manipulation
Sampling-based model predictive control (MPC) is a promising tool for fe...
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03/10/2021
RMP2: A Structured Composable Policy Class for Robot Learning
We consider the problem of learning motion policies for acceleration-bas...
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12/24/2020
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
Robotic tasks often require generation of motions that satisfy multiple ...
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10/28/2020
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
This paper describes the pragmatic design and construction of geometric ...
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07/25/2020
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Generating robot motion for multiple tasks in dynamic environments is ch...
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07/09/2020
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
Algorithmic solutions for the motion planning problem have been investig...
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06/04/2020
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
This work addresses the problem of robot interaction in complex environm...
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05/27/2020
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
Robotic tasks often require motions with complex geometric structures. W...
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05/21/2020
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning
Traditional robotic approaches rely on an accurate model of the environm...
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10/10/2019
Trajectory Optimization for Coordinated Human-Robot Collaboration
Effective human-robot collaboration requires informed anticipation. The ...
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10/07/2019
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Teleoperation offers the possibility of imparting robotic systems with s...
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10/07/2019
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
RMPflow is a recently proposed policy-fusion framework based on differen...
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09/26/2019
Scaling Local Control to Large-Scale Topological Navigation
Visual topological navigation has been revitalized recently thanks to th...
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08/05/2019
Representing Robot Task Plans as Robust Logical-Dynamical Systems
It is difficult to create robust, reusable, and reactive behaviors for r...
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04/03/2019
Neural Autonomous Navigation with Riemannian Motion Policy
End-to-end learning for autonomous navigation has received substantial a...
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03/08/2019
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
To perform complex tasks, robots must be able to interact with and manip...
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11/16/2018
RMPflow: A Computational Graph for Automatic Motion Policy Generation
We develop a novel policy synthesis algorithm, RMPflow, based on geometr...
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11/08/2018
Learning Latent Space Dynamics for Tactile Servoing
In order to achieve a dexterous robotic manipulation, we need to equip o...
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10/15/2018
Predictor-Corrector Policy Optimization
We present a predictor-corrector framework, called PicCoLO, that can tra...
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10/15/2018
Robust Learning of Tactile Force Estimation through Robot Interaction
Current methods for estimating force from tactile sensor signals are eit...
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10/12/2018
Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience
We consider the problem of transferring policies to the real world by tr...
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10/06/2017
A New Data Source for Inverse Dynamics Learning
Modern robotics is gravitating toward increasingly collaborative human r...
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02/14/2012