7 papers
Wall Street Tree Search: Risk-Aware Planning for Offline Reinforcement Learning
Dan Elbaz, Gal Novik, Oren Salzman
Offline reinforcement-learning (RL) algorithms learn to make decisions using a given, fixed training dataset without online data collection. This problem setting is captivating bec…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt
Fahad Islam, Oren Salzman, Aditya Agarwal +1
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts…
Task-Informed Fidelity Management for Speeding Up Robotics Simulation
Abhijeet Tallavajhula, Adrian Schoisengeier, Sung-Kyun Kim +3
Simulators are an important tool in robotics that is used to develop robot software and generate synthetic data for machine learning algorithms. Faster simulation can result in bet…
Planning, Learning and Reasoning Framework for Robot Truck Unloading
Fahad Islam, Anirudh Vemula, Sung-Kyun Kim +3
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for…
A Planning Framework for Persistent, Multi-UAV Coverage with Global Deconfliction
Tushar Kusnur, Shohin Mukherjee, Dhruv Mauria Saxena +4
Planning for multi-robot coverage seeks to determine collision-free paths for a fleet of robots, enabling them to collectively observe points of interest in an environment. Persist…