1 citations · 1 across the 2 of their papers we have counts for
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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…
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…