51 citations · 64 across the 26 of their papers we have counts for
26 papers
PhyPush: One Push is All You Need for Sensorless Physical Property Estimation with Physics-Guided Transformers
Koyo Fujii, Luis Figueredo, Praminda Caleb-Solly +4
Accurately estimating object mass and friction is fundamental to reliable robotic manipulation. While interactive perception is powerful, most approaches rely on specialized hardwa…
G-MAPP: GPU-accelerated Multi-Agent Planning and Perception for Reactive Motion Generation
Tanmay Bishnoi, Riddhiman Laha, Tobias Löw +3
Reactive motion generation in unstructured environments remains an open challenge in robotics. Due to the computational complexity of collision-free motion generation, existing met…
Just in time Informed Trees: Manipulability-Aware Asymptotically Optimized Motion Planning
Kuanqi Cai, Liding Zhang, Xinwen Su +6
In high-dimensional robotic path planning, traditional sampling-based methods often struggle to efficiently identify both feasible and optimal paths in complex, multi-obstacle envi…
Contact-Safe Reinforcement Learning with ProMP Reparameterization and Energy Awareness
Bingkun Huang, Yuhe Gong, Zewen Yang +2
Reinforcement learning (RL) approaches based on Markov Decision Processes (MDPs) are predominantly applied in the robot joint space, often relying on limited task-specific informat…
Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces
Kuanqi Cai, Chunfeng Wang, Zeqi Li +5
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and a…
GELATO: Multi-Instruction Trajectory Reshaping via Geometry-Aware Multiagent-based Orchestration
Junhui Huang, Yuhe Gong, Changsheng Li +2
We present GELATO -- the first language-driven trajectory reshaping framework to embed geometric environment awareness and multi-agent feedback orchestration to support multi-instr…
GeoPF: Infusing Geometry into Potential Fields for Reactive Planning in Non-trivial Environments
Yuhe Gong, Riddhiman Laha, Luis Figueredo
Reactive intelligence remains one of the cornerstones of versatile robotics operating in cluttered, dynamic, and human-centred environments. Among reactive approaches, potential fi…
Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control
Rafael I. Cabral Muchacho, Riddhiman Laha, Florian T. Pokorny +2
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have…
GIFT: Geometry-Induced Functional Transfer for Category-level Object Manipulation
Cristiana de Farias, Luis Figueredo, Riddhiman Laha +5
Robotic manipulation of unfamiliar objects in new environments is challenging due to limited generalisation capabilities. We propose a new skill transfer framework, GIFT (Geometry-…
GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm based on Screw Theory Enabling Multiple Redundancy Parameters
Pablo C. Lopez-Custodio, Yuhe Gong, Luis F. C. Figueredo
Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot ar…
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
Motion Planning for Robotics: A Review for Sampling-based Planners
Liding Zhang, Kuanqi Cai, Zewei Sun +5
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion pla…
Using The Concept Hierarchy for Household Action Recognition
Andrei Costinescu, Luis Figueredo, Darius Burschka
We propose a method to systematically represent both the static and the dynamic components of environments, i.e. objects and agents, as well as the changes that are happening in th…
DRAPER: Towards a Robust Robot Deployment and Reliable Evaluation for Quasi-Static Pick-and-Place Cloth-Shaping Neural Controllers
Halid Abdulrahim Kadi, Jose Alex Chandy, Luis Figueredo +2
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hin…
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen +4
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations dur…
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo +1
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in…
LoHoRavens: A Long-Horizon Language-Conditioned Benchmark for Robotic Tabletop Manipulation
Shengqiang Zhang, Philipp Wicke, Lütfi Kerem Şenel +5
The convergence of embodied agents and large language models (LLMs) has brought significant advancements to embodied instruction following. Particularly, the strong reasoning capab…
A Concise Overview of Safety Aspects in Human-Robot Interaction
Mazin Hamad, Simone Nertinger, Robin J. Kirschner +3
As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor…
Towards Language-Based Modulation of Assistive Robots through Multimodal Models
Philipp Wicke, Lüfti Kerem Şenel, Shengqiang Zhang +4
In the field of Geriatronics, enabling effective and transparent communication between humans and robots is crucial for enhancing the acceptance and performance of assistive robots…
A Solution to Slosh-free Robot Trajectory Optimization
Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo +1
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model t…
LATTE: LAnguage Trajectory TransformEr
Arthur Bucker, Luis Figueredo, Sami Haddadin +4
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the r…
Human-to-Robot Manipulability Domain Adaptation with Parallel Transport and Manifold-Aware ICP
Anna Reithmeir, Luis Figueredo, Sami Haddadin
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer…
Reshaping Robot Trajectories Using Natural Language Commands: A Study of Multi-Modal Data Alignment Using Transformers
Arthur Bucker, Luis Figueredo, Sami Haddadin +3
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when hu…
Coordinate Invariant User-Guided Constrained Path Planning with Reactive Rapidly Expanding Plane-Oriented Escaping Trees
Riddhiman Laha, Ruiai Sun, Wenxi Wu +4
As collaborative robots move closer to human environments, motion generation and reactive planning strategies that allow for elaborate task execution with minimal easy-to-implement…