233 citations · 451 across the 42 of their papers we have counts for
5 papers · 1 filter
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Mustafa Mukadam, Ching-An Cheng, Dieter Fox +2
RMPflow is a recently proposed policy-fusion framework based on differential geometry. While RMPflow has demonstrated promising performance, it requires the user to provide sensibl…
Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
Keshav Kolur, Sahit Chintalapudi, Byron Boots +1
Efficient planning in dynamic and uncertain environments is a fundamental challenge in robotics. In the context of trajectory optimization, the feasibility of paths can change as t…
Differentiable Gaussian Process Motion Planning
Mohak Bhardwaj, Byron Boots, Mustafa Mukadam
Modern trajectory optimization based approaches to motion planning are fast, easy to implement, and effective on a wide range of robotics tasks. However, trajectory optimization al…
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam +3
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during…
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
Anqi Li, Mustafa Mukadam, Magnus Egerstedt +1
In many applications, multi-robot systems are required to achieve multiple objectives. For these multi-objective tasks, it is oftentimes hard to design a single control policy that…