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09/15/2023
Constrained Bimanual Planning with Analytic Inverse Kinematics
In order for a bimanual robot to manipulate an object that is held by bo...
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06/24/2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Offline optimization paradigms such as offline Reinforcement Learning (R...
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05/10/2023
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Computing optimal, collision-free trajectories for high-dimensional syst...
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05/01/2023
Fast Path Planning Through Large Collections of Safe Boxes
We present a fast algorithm for the design of smooth paths (or trajector...
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04/25/2023
Suboptimal Controller Synthesis for Cart-Poles and Quadrotors via Sums-of-Squares
Sums-of-squares (SOS) optimization is a promising tool to synthesize cer...
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04/24/2023
Synthesizing Stable Reduced-Order Visuomotor Policies for Nonlinear Systems via Sums-of-Squares Optimization
We present a method for synthesizing dynamic, reduced-order output-feedb...
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03/26/2023
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
One of the most difficult parts of motion planning in configuration spac...
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02/23/2023
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Understanding the geometry of collision-free configuration space (C-free...
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01/26/2023
Smoothed Online Learning for Prediction in Piecewise Affine Systems
The problem of piecewise affine (PWA) regression and planning is of foun...
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12/30/2022
Can Direct Latent Model Learning Solve Linear Quadratic Gaussian Control?
We study the task of learning state representations from potentially hig...
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10/20/2022
Does Decentralized Learning with Non-IID Unlabeled Data Benefit from Self Supervision?
Decentralized learning has been advocated and widely deployed to make ef...
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06/22/2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
The empirical success of Reinforcement Learning (RL) in the setting of c...
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05/09/2022
Motion Planning around Obstacles with Convex Optimization
Trajectory optimization offers mature tools for motion planning in high-...
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05/07/2022
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators
Configuration space (C-space) has played a central role in collision-fre...
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02/28/2022
Elliptical Slice Sampling for Probabilistic Verification of Stochastic Systems with Signal Temporal Logic Specifications
Autonomous robots typically incorporate complex sensors in their decisio...
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02/24/2022
Learning Multi-Object Dynamics with Compositional Neural Radiance Fields
We present a method to learn compositional predictive models from image ...
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02/23/2022
Globally Convergent Policy Search over Dynamic Filters for Output Estimation
We introduce the first direct policy search algorithm which provably con...
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02/02/2022
Do Differentiable Simulators Give Better Policy Gradients?
Differentiable simulators promise faster computation time for reinforcem...
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11/02/2021
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
We propose the framework of Series Elastic End Effectors in 6D (SEED), w...
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10/02/2021
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning
This work proposes an optimization-based manipulation planning framework...
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09/29/2021
Lyapunov-stable neural-network control
Deep learning has had a far reaching impact in robotics. Specifically, d...
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09/20/2021
Easing Reliance on Collision-free Planning with Contact-aware Control
We believe that the future of robot motion planning will look very diffe...
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09/11/2021
Bundled Gradients through Contact via Randomized Smoothing
The empirical success of derivative-free methods in reinforcement learni...
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03/15/2021
Variable compliance and geometry regulation of Soft-Bubble grippers with active pressure control
While compliant grippers have become increasingly commonplace in robot m...
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02/11/2021
kPAM 2.0: Feedback Control for Category-Level Robotic Manipulation
In this paper, we explore generalizable, perception-to-action robotic ma...
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01/27/2021
Shortest Paths in Graphs of Convex Sets
Given a graph, the shortest-path problem requires finding a sequence of ...
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09/10/2020
Keypoints into the Future: Self-Supervised Correspondence in Model-Based Reinforcement Learning
Predictive models have been at the core of many robotic systems, from qu...
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08/24/2020
Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems
Learning-based methodologies increasingly find applications in safety-cr...
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04/07/2020
Soft-Bubble grippers for robust and perceptive manipulation
Manipulation in cluttered environments like homes requires stable grasps...
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03/09/2020
FormulaZero: Distributionally Robust Online Adaptation via Offline Population Synthesis
Balancing performance and safety is crucial to deploying autonomous vehi...
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02/21/2020
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation
In this paper, we tackle the problem of pushing piles of small objects i...
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09/17/2019
Local Trajectory Stabilization for Dexterous Manipulation via Piecewise Affine Approximations
We propose a model-based approach to design feedback policies for dexter...
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09/16/2019
kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion
Manipulation planning is the task of computing robot trajectories that m...
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09/16/2019
Self-Supervised Correspondence in Visuomotor Policy Learning
In this paper we explore using self-supervised correspondence for improv...
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06/14/2019
Connecting Touch and Vision via Cross-Modal Prediction
Humans perceive the world using multi-modal sensory inputs such as visio...
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04/30/2019
SurfelWarp: Efficient Non-Volumetric Single View Dynamic Reconstruction
We contribute a dense SLAM system that takes a live stream of depth imag...
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04/03/2019
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
Incorporating effective tactile sensing and mechanical compliance is key...
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03/15/2019
kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation
We would like robots to achieve purposeful manipulation by placing any i...
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03/12/2019
Linear Encodings for Polytope Containment Problems
The polytope containment problem is deciding whether a polytope is a con...
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11/26/2018
FilterReg: Robust and Efficient Probabilistic Point-Set Registration using Gaussian Filter and Twist Parameterization
Probabilistic point-set registration methods have been gaining more atte...
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10/31/2018
Scalable End-to-End Autonomous Vehicle Testing via Rare-event Simulation
While recent developments in autonomous vehicle (AV) technology highligh...
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10/03/2018
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids
Real-life control tasks involve matter of various substances---rigid or ...
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09/28/2018
Propagation Networks for Model-Based Control Under Partial Observation
There has been an increasing interest in learning dynamics simulators fo...
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09/25/2018
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems
Piecewise affine (PWA) systems are widely used to model highly nonlinear...
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09/16/2018
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures
We present a novel controller synthesis approach for discrete-time hybri...
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09/16/2018
LVIS: Learning from Value Function Intervals for Contact-Aware Robot Controllers
Guided policy search is a popular approach for training controllers for ...
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06/22/2018
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation
What is the right object representation for manipulation? We would like ...
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03/24/2018
Convex Optimization of Nonlinear State Feedback Controllers for Discrete-time Polynomial Systems via Occupation Measures
In this paper, we design nonlinear state feedback controllers for discre...
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03/21/2018
Semidefinite Outer Approximation of the Backward Reachable Set of Discrete-time Autonomous Polynomial Systems
We approximate the backward reachable set of discrete-time autonomous po...
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02/25/2018