14 citations · 44 across the 10 of their papers we have counts for
11 papers
On the Utility of Koopman Operator Theory in Learning Dexterous Manipulation Skills
Yunhai Han, Mandy Xie, Ye Zhao +1
Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is l…
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior
Karl Van Wyk, Mandy Xie, Anqi Li +9
Classical mechanical systems are central to controller design in energy shaping methods of geometric control. However, their expressivity is limited by position-only metrics and th…
Imitation Learning via Simultaneous Optimization of Policies and Auxiliary Trajectories
Mandy Xie, Anqi Li, Karl Van Wyk +3
Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distribution…
RMP2: A Structured Composable Policy Class for Robot Learning
Anqi Li, Ching-An Cheng, M. Asif Rana +4
We consider the problem of learning motion policies for acceleration-based robotics systems with a structured policy class specified by RMPflow. RMPflow is a multi-task control fra…
A Factor-Graph Approach for Optimization Problems with Dynamics Constraints
Mandy Xie, Alejandro Escontrela, Frank Dellaert
In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-bod…
Optimization Fabrics for Behavioral Design
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
A common approach to the provably stable design of reactive behavior, exemplified by operational space control, is to reduce the problem to the design of virtual classical mechanic…
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
Mandy Xie, Karl Van Wyk, Anqi Li +5
This paper describes the pragmatic design and construction of geometric fabrics for shaping a robot's task-independent nominal behavior, capturing behavioral components such as obs…
Generalized Nonlinear and Finsler Geometry for Robotics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
Robotics research has found numerous important applications of Riemannian geometry. Despite that, the concept remain challenging to many roboticists because the background material…
Optimization Fabrics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
This paper presents a theory of optimization fabrics, second-order differential equations that encode nominal behaviors on a space and can be used to define the behavior of a smoot…
Batch and Incremental Kinodynamic Motion Planning using Dynamic Factor Graphs
Mandy Xie, Frank Dellaert
This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia…
A Unified Method for Solving Inverse, Forward, and Hybrid Manipulator Dynamics using Factor Graphs
Mandy Xie, Frank Dellaert
This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loop…