4 citations · 4 across the 4 of their papers we have counts for
5 papers
Online state vector reduction during model predictive control with gradient-based trajectory optimisation
David Russell, Rafael Papallas, Mehmet Dogar
Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a…
Physics-Based Object 6D-Pose Estimation during Non-Prehensile Manipulation
Zisong Xu, Rafael Papallas, Mehmet Dogar
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the…
Human-Guided Planner for Non-Prehensile Manipulation
Rafael Papallas, Mehmet R. Dogar
We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem re…
Non-Prehensile Manipulation in Clutter with Human-In-The-Loop
Rafael Papallas, Mehmet R. Dogar
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The pr…
Planning with a Receding Horizon for Manipulation in Clutter using a Learned Value Function
Wissam Bejjani, Rafael Papallas, Matteo Leonetti +1
Manipulation in clutter requires solving complex sequential decision making problems in an environment rich with physical interactions. The transfer of motion planning solutions fr…