177 citations · 724 across the 71 of their papers we have counts for
73 papers
Uncertainty Guided Exploratory Trajectory Optimization for Sampling-Based Model Predictive Control
O. Goktug Poyrazoglu, Yukang Cao, Rahul Moorthy +1
Trajectory optimization depends heavily on initialization. In particular, sampling-based approaches are highly sensitive to initial solutions, and limited exploration frequently le…
SV-GS: Sparse View 4D Reconstruction with Skeleton-Driven Gaussian Splatting
Jun-Jee Chao, Volkan Isler
Reconstructing a dynamic target moving over a large area is challenging. Standard approaches for dynamic object reconstruction require dense coverage in both the viewing space and…
Fast Navigation Through Occluded Spaces via Language-Conditioned Map Prediction
Rahul Moorthy Mahesh, Oguzhan Goktug Poyrazoglu, Yukang Cao +1
In cluttered environments, motion planners often face a trade-off between safety and speed due to uncertainty caused by occlusions and limited sensor range. In this work, we invest…
C-Free-Uniform: A Map-Conditioned Trajectory Sampler for Model Predictive Path Integral Control
Yukang Cao, Rahul Moorthy, O. Goktug Poyrazoglu +1
Trajectory sampling is a key component of sampling-based control mechanisms. Trajectory samplers rely on control input samplers, which generate control inputs u from a distribution…
Optimal Robotic Velcro Peeling with Force Feedback
Jiacheng Yuan, Changhyun Choi, Volkan Isler
We study the problem of peeling a Velcro strap from a surface using a robotic manipulator. The surface geometry is arbitrary and unknown. The robot has access to only the force fee…
Part Segmentation and Motion Estimation for Articulated Objects with Dynamic 3D Gaussians
Jun-Jee Chao, Qingyuan Jiang, Volkan Isler
Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly…
An Unsupervised C-Uniform Trajectory Sampler with Applications to Model Predictive Path Integral Control
O. Goktug Poyrazoglu, Rahul Moorthy, Yukang Cao +2
Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sam…
VisDiff: SDF-Guided Polygon Generation for Visibility Reconstruction and Recognition
Rahul Moorthy, Jun-Jee Chao, Volkan Isler
The ability to capture rich representations of combinatorial structures has enabled the application of machine learning to tasks such as analysis and generation of floorplans, terr…
C-Uniform Trajectory Sampling For Fast Motion Planning
O. Goktug Poyrazoglu, Yukang Cao, Volkan Isler
We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to…
Stochastic Traveling Salesperson Problem with Neighborhoods for Object Detection
Cheng Peng, Minghan Wei, Volkan Isler
We introduce a new route-finding problem which considers perception and travel costs simultaneously. Specifically, we consider the problem of finding the shortest tour such that al…
Neural L1 Adaptive Control of Vehicle Lateral Dynamics
Pratik Mukherjee, Burak M. Gonultas, O. Goktug Poyrazoglu +1
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of th…
Pursuit-Evasion for Car-like Robots with Sensor Constraints
Burak M. Gonultas, Volkan Isler
We study a pursuit-evasion game between two players with car-like dynamics and sensing limitations by formalizing it as a partially observable stochastic zero-sum game. The partial…
Map-Aware Human Pose Prediction for Robot Follow-Ahead
Qingyuan Jiang, Burak Susam, Jun-Jee Chao +1
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this tas…
FineControlNet: Fine-level Text Control for Image Generation with Spatially Aligned Text Control Injection
Hongsuk Choi, Isaac Kasahara, Selim Engin +3
Recently introduced ControlNet has the ability to steer the text-driven image generation process with geometric input such as human 2D pose, or edge features. While ControlNet prov…
VioLA: Aligning Videos to 2D LiDAR Scans
Jun-Jee Chao, Selim Engin, Nikhil Chavan-Dafle +2
We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts w…
GG-LLM: Geometrically Grounding Large Language Models for Zero-shot Human Activity Forecasting in Human-Aware Task Planning
Moritz A. Graule, Volkan Isler
A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requir…
Pouring by Feel: An Analysis of Tactile and Proprioceptive Sensing for Accurate Pouring
Pedro Piacenza, Daewon Lee, Volkan Isler
As service robots begin to be deployed to assist humans, it is important for them to be able to perform a skill as ubiquitous as pouring. Specifically, we focus on the task of pour…
VFAS-Grasp: Closed Loop Grasping with Visual Feedback and Adaptive Sampling
Pedro Piacenza, Jiacheng Yuan, Jinwook Huh +1
We consider the problem of closed-loop robotic grasping and present a novel planner which uses Visual Feedback and an uncertainty-aware Adaptive Sampling strategy (VFAS) to close t…
HIO-SDF: Hierarchical Incremental Online Signed Distance Fields
Vasileios Vasilopoulos, Suveer Garg, Jinwook Huh +2
A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it…
HandNeRF: Learning to Reconstruct Hand-Object Interaction Scene from a Single RGB Image
Hongsuk Choi, Nikhil Chavan-Dafle, Jiacheng Yuan +2
This paper presents a method to learn hand-object interaction prior for reconstructing a 3D hand-object scene from a single RGB image. The inference as well as training-data genera…
System Identification and Control of Front-Steered Ackermann Vehicles through Differentiable Physics
Burak M. Gonultas, Pratik Mukherjee, O. Goktug Poyrazoglu +1
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises natura…
Onboard View Planning of a Flying Camera for High Fidelity 3D Reconstruction of a Moving Actor
Qingyuan Jiang, Volkan Isler
Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fide…
RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction
Isaac Kasahara, Shubham Agrawal, Selim Engin +3
General scene reconstruction refers to the task of estimating the full 3D geometry and texture of a scene containing previously unseen objects. In many practical applications such…
Real-time Simultaneous Multi-Object 3D Shape Reconstruction, 6DoF Pose Estimation and Dense Grasp Prediction
Shubham Agrawal, Nikhil Chavan-Dafle, Isaac Kasahara +3
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scen…