Publications (9)
Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models
Thomas Power, Dmitry Berenson
When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynam…
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces
Dale McConachie, Thomas Power, Peter Mitrano +1
When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find…
Gemini Robotics 1.5: Pushing the Frontier of Generalist Robots with Advanced Embodied Reasoning, Thinking, and Motion Transfer
Gemini Robotics Team, Abbas Abdolmaleki, Saminda Abeyruwan +169
General-purpose robots need a deep understanding of the physical world, advanced reasoning, and general and dexterous control. This report introduces the latest generation of the G…
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection
Thomas Power, Dmitry Berenson
We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequen…
A Novel Probabilistic Framework to Study the Impact of PV-battery Systems on Low-Voltage Distribution Networks
Yiju Ma, Donald Azuatalam, Thomas Power +2
Battery storage, particularly residential battery storage coupled with rooftop PV, is emerging as an essential component of the smart grid technology mix. However, including batter…