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09/14/2023
Neural Field Representations of Articulated Objects for Robotic Manipulation Planning
Traditional approaches for manipulation planning rely on an explicit geo...
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06/29/2023
Spatial Reasoning via Deep Vision Models for Robotic Sequential Manipulation
In this paper, we propose using deep neural architectures (i.e., vision ...
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11/15/2021
Learning to Execute: Efficient Learning of Universal Plan-Conditioned Policies in Robotics
Applications of Reinforcement Learning (RL) in robotics are often limite...
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10/07/2021
RHH-LGP: Receding Horizon And Heuristics-Based Logic-Geometric Programming For Task And Motion Planning
Sequential decision-making and motion planning for robotic manipulation ...
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09/10/2021
Data Generation Method for Learning a Low-dimensional Safe Region in Safe Reinforcement Learning
Safe reinforcement learning aims to learn a control policy while ensurin...
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07/14/2021
Plan-Based Relaxed Reward Shaping for Goal-Directed Tasks
In high-dimensional state spaces, the usefulness of Reinforcement Learni...
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06/04/2021
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly
Robotic assembly planning has the potential to profoundly change how bui...
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01/28/2021
Visualization of Nonlinear Programming for Robot Motion Planning
Nonlinear programming targets nonlinear optimization with constraints, w...
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11/09/2020
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
Efficient sampling from constraint manifolds, and thereby generating a d...
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10/19/2020
Learning a Low-dimensional Representation of a Safe Region for Safe Reinforcement Learning on Dynamical Systems
For safely applying reinforcement learning algorithms on high-dimensiona...
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03/17/2020