23 citations · 26 across the 7 of their papers we have counts for
8 papers
Real-Time Reinforcement Learning for Dynamic Tasks with a Parallel Soft Robot
James Avtges, Jake Ketchum, Millicent Schlafly +5
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft…
Flow Matching Ergodic Coverage
Max Muchen Sun, Allison Pinosky, Todd Murphey
Ergodic coverage effectively generates exploratory behaviors for embodied agents by aligning the spatial distribution of the agent's trajectory with a target distribution, where th…
Embodied Active Learning of Generative Sensor-Object Models
Allison Pinosky, Todd D. Murphey
When a robot encounters a novel object, how should it respond$\unicode{x2014}$what data should it collect$\unicode{x2014}$so that it can find the object in the future? In this work…
Maximum diffusion reinforcement learning
Thomas A. Berrueta, Allison Pinosky, Todd D. Murphey
Robots and animals both experience the world through their bodies and senses. Their embodiment constrains their experiences, ensuring they unfold continuously in space and time. As…
Scale-Invariant Specifications for Human-Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky +9
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution through…
A Game Benchmark for Real-Time Human-Swarm Control
Joel Meyer, Allison Pinosky, Thomas Trzpit +2
We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a v…
Scale-Invariant Fast Functional Registration
Muchen Sun, Allison Pinosky, Ian Abraham +1
Functional registration algorithms represent point clouds as functions (e.g. spacial occupancy field) avoiding unreliable correspondence estimation in conventional least-squares re…
Hybrid Control for Learning Motor Skills
Ian Abraham, Alexander Broad, Allison Pinosky +2
We develop a hybrid control approach for robot learning based on combining learned predictive models with experience-based state-action policy mappings to improve the learning capa…