Publications (38)
Learning the Problem-Optimum Map: Analysis and Application to Global Optimization in Robotics
Kris Hauser
This paper describes a data-driven framework for approximate global optimization in which precomputed solutions to a sample of problems are retrieved and adapted during online use…
Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016)
Nancy Amato, Charles Anderson, Gregory Chirikjian +13
Proceedings of the 1st International Workshop on Robot Learning and Planning (RLP 2016)
Artificial Intelligence Framework for Simulating Clinical Decision-Making: A Markov Decision Process Approach
Casey C. Bennett, Kris Hauser
In the modern healthcare system, rapidly expanding costs/complexity, the growing myriad of treatment options, and exploding information streams that often do not effectively reach…
Integrating Open-World Shared Control in Immersive Avatars
Patrick Naughton, James Seungbum Nam, Andrew Stratton +1
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give opera…
Particle-Grid Neural Dynamics for Learning Deformable Object Models from RGB-D Videos
Kaifeng Zhang, Baoyu Li, Kris Hauser +1
Modeling the dynamics of deformable objects is challenging due to their diverse physical properties and the difficulty of estimating states from limited visual information. We addr…
Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts
Gao Tang, Kris Hauser
This paper proposes a discontinuity-sensitive approach to learn the solutions of parametric optimal control problems with high accuracy. Many tasks, ranging from model predictive c…
Localized Graph-Based Neural Dynamics Models for Terrain Manipulation
Chaoqi Liu, Yunzhu Li, Kris Hauser
Predictive models can be particularly helpful for robots to effectively manipulate terrains in construction sites and extraterrestrial surfaces. However, terrain state representati…
Characterizing the Complexity of Social Robot Navigation Scenarios
Andrew Stratton, Kris Hauser, Christoforos Mavrogiannis
Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domai…
Flexible Multitask Learning with Factorized Diffusion Policy
Chaoqi Liu, Haonan Chen, Sigmund H. Høeg +4
Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these comple…
Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Contact-implicit trajectory optimization (CITO) is an effective method to plan complex trajectories for various contact-rich systems including manipulation and locomotion. CITO for…
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
Zherong Pan, Kris Hauser
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offer…
Autonomous Excavation of Challenging Terrain using Oscillatory Primitives and Adaptive Impedance Control
Noah Franceschini, Pranay Thangeda, Melkior Ornik +1
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a sta…
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a m…
AdaptiGraph: Material-Adaptive Graph-Based Neural Dynamics for Robotic Manipulation
Kaifeng Zhang, Baoyu Li, Kris Hauser +1
Predictive models are a crucial component of many robotic systems. Yet, constructing accurate predictive models for a variety of deformable objects, especially those with unknown p…
On-Device CPU Scheduling for Sense-React Systems
Aditi Partap, Samuel Grayson, Muhammad Huzaifa +5
Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, a…
Stable bin packing of non-convex 3D objects with a robot manipulator
Fan Wang, Kris Hauser
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing proble…
Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization
Shihao Wang, Kris Hauser
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The p…
Boundary-Aware Value Function Generation for Safe Stochastic Motion Planning
Junhong Xu, Kai Yin, Jason M. Gregory +2
Navigation safety is critical for many autonomous systems such as self-driving vehicles in an urban environment. It requires an explicit consideration of boundary constraints that…
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
Kris Hauser, Eleanor Watson, Joonbum Bae +25
The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though ph…
On the Overconfidence Problem in Semantic 3D Mapping
Joao Marcos Correia Marques, Albert Zhai, Shenlong Wang +1
Semantic 3D mapping, the process of fusing depth and image segmentation information between multiple views to build 3D maps annotated with object classes in real-time, is a recent…
Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
Weidong Sun, Gao Tang, Kris Hauser
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging n…
Optimized Coverage Planning for UV Surface Disinfection
Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan +1
UV radiation has been used as a disinfection strategy to deactivate a wide range of pathogens, but existing irradiation strategies do not ensure sufficient exposure of all environm…
Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach
Ninghan Zhong, Kris Hauser
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic re…
Analysis and Observations from the First Amazon Picking Challenge
Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson +7
This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to desi…
FOUND-IT: Foundation-model-first Task-driven 3D Scene Graphs with Granularity on Demand
Dominic Maggio, Nicolas Gorlo, Kris Hauser +1
We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We…
Efficient Automatic Tuning for Data-driven Model Predictive Control via Meta-Learning
Baoyu Li, William Edwards, Kris Hauser
AutoMPC is a Python package that automates and optimizes data-driven model predictive control. However, it can be computationally expensive and unstable when exploring large search…
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
Yuan Tian, Mark Draelos, Gao Tang +4
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-mi…
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013)
Aitor Aladren, Sasa Bodiroza, Hamidreza Chitsaz +12
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013)
Automated Heart and Lung Auscultation in Robotic Physical Examinations
Yifan Zhu, Alexander Smith, Kris Hauser
This paper presents the first implementation of autonomous robotic auscultation of heart and lung sounds. To select auscultation locations that generate high-quality sounds, a Baye…
Simulation-Ready Cluttered Scene Estimation via Physics-aware Joint Shape and Pose Optimization
Wei-Cheng Huang, Jiaheng Han, Xiaohan Ye +2
Estimating simulation-ready scenes from real-world observations is crucial for downstream planning and policy learning tasks. Regretfully, existing methods struggle in cluttered en…
Asymptotically Optimal Planning by Feasible Kinodynamic Planning in State-Cost Space
Kris Hauser, Yilun Zhou
This paper presents an equivalence between feasible kinodynamic planning and optimal kinodynamic planning, in that any optimal planning problem can be transformed into a series of…
Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits
Shaoxiong Yao, Sicong Pan, Maren Bennewitz +1
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. Howeve…
Learning and Autonomy for Extraterrestrial Terrain Sampling: An Experience Report from OWLAT Deployment
Pranay Thangeda, Ashish Goel, Erica Tevere +6
Extraterrestrial autonomous lander missions increasingly demand adaptive capabilities to handle the unpredictable and diverse nature of the terrain. This paper discusses the deploy…
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift
Yifan Zhu, Pranay Thangeda, Melkior Ornik +1
Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth…
Few-shot Scooping Under Domain Shift via Simulated Maximal Deployment Gaps
Yifan Zhu, Pranay Thangeda, Erica L Tevere +5
Autonomous lander missions on extraterrestrial bodies need to sample granular materials while coping with domain shifts, even when sampling strategies are extensively tuned on Eart…
3D Force and Contact Estimation for a Soft-Bubble Visuotactile Sensor Using FEM
Jing-Chen Peng, Shaoxiong Yao, Kris Hauser
Soft-bubble tactile sensors have the potential to capture dense contact and force information across a large contact surface. However, it is difficult to extract contact forces dir…
Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
Zherong Pan, Kris Hauser
We present non-convex maximal dissipation principle (NMDP), a time integration scheme for articulated bodies with simultaneous contacts. Our scheme resolves contact forces via the…
Map Space Belief Prediction for Manipulation-Enhanced Mapping
Joao Marcos Correia Marques, Nils Dengler, Tobias Zaenker +4
Searching for objects in cluttered environments requires selecting efficient viewpoints and manipulation actions to remove occlusions and reduce uncertainty in object locations, sh…