10 citations · 19 across the 17 of their papers we have counts for
5 papers · 1 filter
ALFRED: Requirement-driven development of an open-source mobile manipulator for long-term plant monitoring
Ciarán Miceal Johnson, Christopher Quail, Garry Ellard +3
Tracking seasonal change in crops and forests requires observing the same plants repeatedly. Ground robots can do this at close range, and a manipulator gives their sensors more vi…
ContactKernels: Adaptive Proposals using Geometry-COnditioned Wrenches for Contact-Rich Manipulation
Aditya Kamireddypalli, Matías Mattamala, João Moura +3
Contact-rich insertion requires precise geometric alignment despite uncertainty in perception, geometry, and con- trol. When this uncertainty causes unintended contact, the re- sul…
Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation
Daniel Layeghi, Thomas Corbères, Calum Arnott +4
Differentiable simulation can accelerate contact-rich trajectory optimisation by exposing local sensitivities of task outcomes to controls. Existing approaches either use finite di…
CASSR: Continuous A-Star Search through Reachability for real time footstep planning
Jiayi Wang, Steve Tonneau
Footstep planning involves a challenging combinatorial search. Traditional A* approaches require discretising reachability constraints, while Mixed-Integer Programming (MIP) suppor…
System Identification under Constraints and Disturbance: A Bayesian Estimation Approach
Sergi Martinez, Steve Tonneau, Carlos Mastalli
We introduce a Bayesian system identification (SysID) framework for jointly estimating robot's state trajectories and physical parameters with high accuracy. It embeds physically c…