93 citations · 176 across the 19 of their papers we have counts for
35 papers · 1 filter
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Walter Goodwin, Ioannis Havoutis, Ingmar Posner
In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation:…
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Thomas Corbères, Carlos Mastalli, Wolfgang Merkt +6
Real-time synthesis of legged locomotion maneuvers in challenging industrial settings is still an open problem, requiring simultaneous determination of footsteps locations several…
Roll-Drop: accounting for observation noise with a single parameter
Luigi Campanaro, Daniele De Martini, Siddhant Gangapurwala +2
This paper proposes a simple strategy for sim-to-real in Deep-Reinforcement Learning (DRL) -- called Roll-Drop -- that uses dropout during simulation to account for observation noi…
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Jun Yamada, Chia-Man Hung, Jack Collins +2
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly out…
Reaching Through Latent Space: From Joint Statistics to Path Planning in Manipulation
Chia-Man Hung, Shaohong Zhong, Walter Goodwin +4
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot pos…
Learning Low-Frequency Motion Control for Robust and Dynamic Robot Locomotion
Siddhant Gangapurwala, Luigi Campanaro, Ioannis Havoutis
Robotic locomotion is often approached with the goal of maximizing robustness and reactivity by increasing motion control frequency. We challenge this intuitive notion by demonstra…