24 citations · 56 across the 14 of their papers we have counts for
14 papers
Bicycle Acrobatics with Reinforcement Learning
Shamel Fahmi, Arianna Ilvonen, Samuel Zapolsky +8
Bicycle robots are fast and energy efficient, but their simple mechanical design and their underactuated and non-holonomic dynamics make highly agile maneuvers difficult to achieve…
System Design of the Ultra Mobility Vehicle: A Driving, Balancing, and Jumping Bicycle Robot
Benjamin Bokser, Daniel Gonzalez, Aaron Preston +39
Trials cyclists and mountain bike riders can hop, jump, balance, and drive on one or both wheels. This versatility allows them to achieve speed and energy-efficiency on smooth terr…
A System for Generalized 3D Multi-Object Search
Kaiyu Zheng, Anirudha Paul, Stefanie Tellex
Searching for objects is a fundamental skill for robots. As such, we expect object search to eventually become an off-the-shelf capability for robots, similar to e.g., object detec…
Generalized Object Search
Kaiyu Zheng
Future collaborative robots must be capable of finding objects. As such a fundamental skill, we expect object search to eventually become an off-the-shelf capability for any robot,…
Hierarchical Reinforcement Learning of Locomotion Policies in Response to Approaching Objects: A Preliminary Study
Shangqun Yu, Sreehari Rammohan, Kaiyu Zheng +1
Animals such as rabbits and birds can instantly generate locomotion behavior in reaction to a dynamic, approaching object, such as a person or a rock, despite having possibly never…
Towards Optimal Correlational Object Search
Kaiyu Zheng, Rohan Chitnis, Yoonchang Sung +2
In realistic applications of object search, robots will need to locate target objects in complex environments while coping with unreliable sensors, especially for small or hard-to-…
Dialogue Object Search
Monica Roy, Kaiyu Zheng, Jason Liu +1
We envision robots that can collaborate and communicate seamlessly with humans. It is necessary for such robots to decide both what to say and how to act, while interacting with hu…
Spatial Language Understanding for Object Search in Partially Observed City-scale Environments
Kaiyu Zheng, Deniz Bayazit, Rebecca Mathew +2
Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduc…
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Kaiyu Zheng, Yoonchang Sung, George Konidaris +1
Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with…
pomdp_py: A Framework to Build and Solve POMDP Problems
Kaiyu Zheng, Stefanie Tellex
In this paper, we present pomdp_py, a general purpose Partially Observable Markov Decision Process (POMDP) library written in Python and Cython. Existing POMDP libraries often hind…
From Pixels to Buildings: End-to-end Probabilistic Deep Networks for Large-scale Semantic Mapping
Kaiyu Zheng, Andrzej Pronobis
We introduce TopoNets, end-to-end probabilistic deep networks for modeling semantic maps with structure reflecting the topology of large-scale environments. TopoNets build a unifie…
Learning Graph-Structured Sum-Product Networks for Probabilistic Semantic Maps
Kaiyu Zheng, Andrzej Pronobis, Rajesh P. N. Rao
We introduce Graph-Structured Sum-Product Networks (GraphSPNs), a probabilistic approach to structured prediction for problems where dependencies between latent variables are expre…
Learning Large-Scale Topological Maps Using Sum-Product Networks
Kaiyu Zheng
In order to perform complex actions in human environments, an autonomous robot needs the ability to understand the environment, that is, to gather and maintain spatial knowledge. T…
ROS Navigation Tuning Guide
Kaiyu Zheng
The ROS navigation stack is powerful for mobile robots to move from place to place reliably. The job of navigation stack is to produce a safe path for the robot to execute, by proc…