81 citations · 96 across the 9 of their papers we have counts for
5 papers · 1 filter
Illumination-Aware Active Perception for Spacecraft Inspection
Sagarika Rao Valluri, Benjamin Riviere
Harsh and rapidly varying orbital illumination introduces failure modes during spacecraft inspection. Existing planners rely on line-of-sight inspection metrics which perform occlu…
Value-Preserving Action Quantization
Max Muchen Sun, Jueun Kwon, Benjamin Riviere +1
Search-based policy learning, such as Monte Carlo tree search (MCTS), offers the flexibility to trade runtime computation for data efficiency and adaptation to novel environments.…
A Unified Kalman-Type Classification of Controllability for Linear Stochastic Systems
Qi Lü, Yu Wang
We provide a unified algebraic classification of approximate controllability, approximate null controllability, exact null controllability, and exact controllability for finite-dim…
World-Action Models for Robot Learning and Control: A Survey
Zuxing Lu, Hongjia Zhai, Guanzhi Wang +13
Robots operating in open environments act under partial observability, physical constraints, and dynamic task contexts. Beyond mapping observations and language instructions to act…
Spectral Decomposition of Inverse Dynamics for Fast Exploration in Model-Based Manipulation
Solvin Sigurdson, Benjamin Riviere, Joel Burdick
Planning long duration robotic manipulation sequences is challenging because of the complexity of exploring feasible trajectories through nonlinear contact dynamics and many contac…