11 citations · 20 across the 3 of their papers we have counts for
10 papers
The effect of Target Normalization and Momentum on Dying ReLU
Isac Arnekvist, J. Frederico Carvalho, Danica Kragic +1
Optimizing parameters with momentum, normalizing data values, and using rectified linear units (ReLUs) are popular choices in neural network (NN) regression. Although ReLUs are pop…
Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data
Johannes A. Stork, Todor Stoyanov
Creating maps is an essential task in robotics and provides the basis for effective planning and navigation. In this paper, we learn a compact and continuous implicit surface map o…
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Object Placement Planning and Optimization for Robot Manipulators
Joshua A. Haustein, Kaiyu Hang, Johannes Stork +1
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-…
Data-Driven Model Predictive Control for Food-Cutting
Ioanna Mitsioni, Yiannis Karayiannidis, Johannes A. Stork +1
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the…
Learning Manipulation States and Actions for Efficient Non-prehensile Rearrangement Planning
Joshua A. Haustein, Isac Arnekvist, Johannes Stork +2
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planni…