177 citations · 724 across the 71 of their papers we have counts for
40 papers · 1 filter
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…
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…
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…
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…
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…
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…
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…
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
Vasileios Vasilopoulos, Suveer Garg, Pedro Piacenza +2
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchic…
EV-Catcher: High-Speed Object Catching Using Low-latency Event-based Neural Networks
Ziyun Wang, Fernando Cladera Ojeda, Anthony Bisulco +6
Event-based sensors have recently drawn increasing interest in robotic perception due to their lower latency, higher dynamic range, and lower bandwidth requirements compared to sta…
Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance
Zhanpeng He, Nikhil Chavan-Dafle, Jinwook Huh +2
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible gra…
Active Mass Distribution Estimation from Tactile Feedback
Jiacheng Yuan, Changhyun Choi, Ellad B. Tadmor +1
In this work, we present a method to estimate the mass distribution of a rigid object through robotic interactions and tactile feedback. This is a challenging problem because of th…
Neural Optimal Control using Learned System Dynamics
Selim Engin, Volkan Isler
We study the problem of generating control laws for systems with unknown dynamics. Our approach is to represent the controller and the value function with neural networks, and to t…
Predicting Energy Consumption of Ground Robots On Uneven Terrains
Minghan Wei, Volkan Isler
Optimizing energy consumption for robot navigation in fields requires energy-cost maps. However, obtaining such a map is still challenging, especially for large, uneven terrains. P…
Self-supervised Wide Baseline Visual Servoing via 3D Equivariance
Jinwook Huh, Jungseok Hong, Suveer Garg +2
One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause d…
Visual Servoing in Orchard Settings
Nicolai Häni, Volkan Isler
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a vi…
Online Coverage Planning for an Autonomous Weed Mowing Robot with Curvature Constraints
Parikshit Maini, Burak M. Gonultas, Volkan Isler
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from…