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6 papers · 2 filters
SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
Sepehr Samavi, James R. Han, Florian Shkurti +1
Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning, which does not account fo…
Does Unpredictability Influence Driving Behavior?
Sepehr Samavi, Florian Shkurti, Angela P. Schoellig
In this paper we investigate the effect of the unpredictability of surrounding cars on an ego-car performing a driving maneuver. We use Maximum Entropy Inverse Reinforcement Learni…
Keep it Upright: Model Predictive Control for Nonprehensile Object Transportation with Obstacle Avoidance on a Mobile Manipulator
Adam Heins, Angela P. Schoellig
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and m…
The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects
Philippe Nadeau, Matthew Giamou, Jonathan Kelly
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, tra…
Extrinsic Calibration of 2D Millimetre-Wavelength Radar Pairs Using Ego-Velocity Estimates
Qilong Cheng, Emmett Wise, Jonathan Kelly
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable featur…
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
Mayank Mittal, Calvin Yu, Qinxi Yu +12
We present Orbit, a unified and modular framework for robot learning powered by NVIDIA Isaac Sim. It offers a modular design to easily and efficiently create robotic environments w…