233 citations · 451 across the 42 of their papers we have counts for
3 papers · 1 filter
RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac +4
We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion Policies (RMPs). RMPs are a class of reactive motion…
Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh +2
Learning from Demonstration (LfD) is a popular approach to endowing robots with skills without having to program them by hand. Typically, LfD relies on human demonstrations in clut…
STEAP: simultaneous trajectory estimation and planning
Mustafa Mukadam, Jing Dong, Frank Dellaert +1
We present a unified probabilistic framework for simultaneous trajectory estimation and planning (STEAP). Estimation and planning problems are usually considered separately, howeve…