5 citations · 5 across the 3 of their papers we have counts for
4 papers
Hierarchical Planning and Policy Shaping Shared Autonomy for Articulated Robots
Ehsan Yousefi, Mo Chen, Inna Sharf
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy sh…
Stability Constrained Mobile Manipulation Planning on Rough Terrain
Jiazhi Song, Inna Sharf
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kine…
Learning the Latent Space of Robot Dynamics for Cutting Interaction Inference
Sahand Rezaei-Shoshtari, David Meger, Inna Sharf
Utilization of latent space to capture a lower-dimensional representation of a complex dynamics model is explored in this work. The targeted application is of a robotic manipulator…
Cascaded Gaussian Processes for Data-efficient Robot Dynamics Learning
Sahand Rezaei-Shoshtari, David Meger, Inna Sharf
Motivated by the recursive Newton-Euler formulation, we propose a novel cascaded Gaussian process learning framework for the inverse dynamics of robot manipulators. This approach l…