5 citations · 7 across the 8 of their papers we have counts for
9 papers
A Generalization of CLAP from 3D Localization to Image Processing, A Connection With RANSAC & Hough Transforms
Ruochen Hou, Gabriel I. Fernandez, Alex Xu +1
In previous work, we introduced a 2D localization algorithm called CLAP, Clustering to Localize Across Possibilities, which was used during our championship win in RoboCup 2024…
Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents
Ruochen Hou, Gabriel I. Fernandez, Mingzhang Zhu +1
In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in Rob…
Fast and Robust Localization for Humanoid Soccer Robot via Iterative Landmark Matching
Ruochen Hou, Mingzhang Zhu, Hyunwoo Nam +2
Accurate robot localization is essential for effective operation. Monte Carlo Localization (MCL) is commonly used with known maps but is computationally expensive due to landmark m…
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning
Xuan Lin, Gabriel Ikaika Fernandez, Dennis Hong
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solvi…
Feasibility Study of LIMMS, A Multi-Agent Modular Robotic Delivery System with Various Locomotion and Manipulation Modes
Taoyuanmin Zhu, Gabriel I. Fernandez, Colin Togashi +2
The logistics of transporting a package from a storage facility to the consumer's front door usually employs highly specialized robots often times splitting sub-tasks up to differe…
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation
Xuan Lin, Gabriel Fernandez, Yeting Liu +3
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg…
ReDUCE: Reformulation of Mixed Integer Programs using Data from Unsupervised Clusters for Learning Efficient Strategies
Xuan Lin, Gabriel I. Fernandez, Dennis W. Hong
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines learning methods on solver heuristics has show…
Deep Reinforcement Learning with Linear Quadratic Regulator Regions
Gabriel I. Fernandez, Colin Togashi, Dennis W. Hong +1
Practitioners often rely on compute-intensive domain randomization to ensure reinforcement learning policies trained in simulation can robustly transfer to the real world. Due to u…
Optimization Based Motion Planning for Multi-Limbed Vertical Climbing Robots
Xuan Lin, Jingwen Zhang, Junjie Shen +2
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on mo…