2.4k citations · 2.5k across the 15 of their papers we have counts for
16 papers
Learning State Conditioned Linear Mappings for Low-Dimensional Control of Robotic Manipulators
Michael Przystupa, Kerrick Johnstonbaugh, Zichen Zhang +4
Identifying an appropriate task space that simplifies control solutions is important for solving robotic manipulation problems. One approach to this problem is learning an appropri…
Managing Temporal Resolution in Continuous Value Estimation: A Fundamental Trade-off
Zichen Zhang, Johannes Kirschner, Junxi Zhang +4
A default assumption in reinforcement learning (RL) and optimal control is that observations arrive at discrete time points on a fixed clock cycle. Yet, many applications involve c…
Analyzing Neural Jacobian Methods in Applications of Visual Servoing and Kinematic Control
Michael Przystupa, Masood Dehghan, Martin Jagersand +1
Designing adaptable control laws that can transfer between different robots is a challenge because of kinematic and dynamic differences, as well as in scenarios where external sens…
A Quantitative Analysis of Activities of Daily Living: Insights into Improving Functional Independence with Assistive Robotics
Laura Petrich, Jun Jin, Masood Dehghan +1
Human assistive robotics have the potential to help the elderly and individuals living with disabilities with their Activities of Daily Living (ADL). Robotics researchers focus on…
Assistive arm and hand manipulation: How does current research intersect with actual healthcare needs?
Laura Petrich, Jun Jin, Masood Dehghan +1
Human assistive robotics have the potential to help the elderly and individuals living with disabilities with their Activities of Daily Living (ADL). Robotics researchers present b…
U-Net: Going Deeper with Nested U-Structure for Salient Object Detection
Xuebin Qin, Zichen Zhang, Chenyang Huang +3
In this paper, we design a simple yet powerful deep network architecture, U-Net, for salient object detection (SOD). The architecture of our U-Net is a two-level nested U-s…
A Geometric Perspective on Visual Imitation Learning
Jun Jin, Laura Petrich, Masood Dehghan +1
We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL…
Understanding Contexts Inside Robot and Human Manipulation Tasks through a Vision-Language Model and Ontology System in a Video Stream
Chen Jiang, Masood Dehghan, Martin Jagersand
Manipulation tasks in daily life, such as pouring water, unfold intentionally under specialized manipulation contexts. Being able to process contextual knowledge in these Activitie…
Visual Geometric Skill Inference by Watching Human Demonstration
Jun Jin, Laura Petrich, Zichen Zhang +2
We study the problem of learning manipulation skills from human demonstration video by inferring the association relationships between geometric features. Motivation for this work…
Long range teleoperation for fine manipulation tasks under time-delay network conditions
Jun Jin, Laura Petrich, Shida He +2
We present a coarse-to-fine approach based semi-autonomous teleoperation system using vision guidance. The system is optimized for long range teleoperation tasks under time-delay n…
Evaluation of state representation methods in robot hand-eye coordination learning from demonstration
Jun Jin, Masood Dehghan, Laura Petrich +2
We evaluate different state representation methods in robot hand-eye coordination learning on different aspects. Regarding state dimension reduction: we evaluates how these state r…
Robot eye-hand coordination learning by watching human demonstrations: a task function approximation approach
Jun Jin, Laura Petrich, Masood Dehghan +2
We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a…
Online Object and Task Learning via Human Robot Interaction
Masood Dehghan, Zichen Zhang, Mennatullah Siam +3
This work describes the development of a robotic system that acquires knowledge incrementally through human interaction where new tools and motions are taught on the fly. The robot…
Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping
Xuebin Qin, Shida He, Camilo Perez Quintero +3
This paper presents a novel real-time method for tracking salient closed boundaries from video image sequences. This method operates on a set of straight line segments that are pro…
Stability of Switched Linear Systems under Dwell Time Switching with Piece-Wise Quadratic Functions
Masood Dehghan, Marcelo H. Ang
This paper provides sufficient conditions for stability of switched linear systems under dwell-time switching. Piece-wise quadratic functions are utilized to characterize the Lyapu…
Domain of attraction of saturated switched systems under dwell-time switching
Masood Dehghan
This paper considers discrete-time switched systems under dwell-time switching and in the presence of saturation nonlinearity. Based on Multiple Lyapunov Functions and using polyto…