23 citations · 24 across the 5 of their papers we have counts for
6 papers
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar, Thomas Power, Fan Yang +4
Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods…
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints
Fan Yang, Thomas Power, Sergio Aguilera Marinovic +3
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In con…
Constrained Stein Variational Trajectory Optimization
Thomas Power, Dmitry Berenson
We present Constrained Stein Variational Trajectory Optimization (CSVTO), an algorithm for performing trajectory optimization with constraints on a set of trajectories in parallel.…
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection
Thomas Power, Dmitry Berenson
We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequen…
Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models
Thomas Power, Dmitry Berenson
When manipulating a novel object with complex dynamics, a state representation is not always available, for example for deformable objects. Learning both a representation and dynam…
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces
Dale McConachie, Thomas Power, Peter Mitrano +1
When the dynamics of a system are difficult to model and/or time-consuming to evaluate, such as in deformable object manipulation tasks, motion planning algorithms struggle to find…