4 papers
Optimal Constrained Task Planning as Mixed Integer Programming
Alphonsus Adu-Bredu, Nikhil Devraj, Odest Chadwicke Jenkins
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a spec…
Probabilistic Inference in Planning for Partially Observable Long Horizon Problems
Alphonsus Adu-Bredu, Nikhil Devraj, Pin-Han Lin +2
For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion P…
GODSAC*: Graph Optimized DSAC* for Robot Relocalization
Alphonsus Adu-Bredu, Noah Del Coro, Tianyi Liu
Deep learning based camera pose estimation from monocular camera images has seen a recent uptake in Visual SLAM research. Even though such pose estimation approaches have excellent…
Elephants Don't Pack Groceries: Robot Task Planning for Low Entropy Belief States
Alphonsus Adu-Bredu, Zhen Zeng, Neha Pusalkar +1
Recent advances in computational perception have significantly improved the ability of autonomous robots to perform state estimation with low entropy. Such advances motivate a reco…