139 citations · 987 across the 58 of their papers we have counts for
8 papers · 1 filter
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
Filip Marić, Matthew Giamou, Ivan Petrović +1
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be describ…
Towards a Policy-as-a-Service Framework to Enable Compliant, Trustworthy AI and HRI Systems in the Wild
Alexis Morris, Hallie Siegel, Jonathan Kelly
Building trustworthy autonomous systems is challenging for many reasons beyond simply trying to engineer agents that 'always do the right thing.' There is a broader context that is…
Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation
Brandon Wagstaff, Jonathan Kelly
The self-supervised loss formulation for jointly training depth and egomotion neural networks with monocular images is well studied and has demonstrated state-of-the-art accuracy.…
Heteroscedastic Uncertainty for Robust Generative Latent Dynamics
Oliver Limoyo, Bryan Chan, Filip Marić +3
Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The proble…
Fighting Failures with FIRE: Failure Identification to Reduce Expert Burden in Intervention-Based Learning
Trevor Ablett, Filip Marić, Jonathan Kelly
Supervised imitation learning, also known as behavioral cloning, suffers from distribution drift leading to failures during policy execution. One approach to mitigate this issue is…
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Valentin Peretroukhin, Matthew Giamou, David M. Rosen +3
Accurate rotation estimation is at the heart of robot perception tasks such as visual odometry and object pose estimation. Deep neural networks have provided a new way to perform t…