7 papers
A Generalization of CLAP from 3D Localization to Image Processing, A Connection With RANSAC & Hough Transforms
Ruochen Hou, Gabriel I. Fernandez, Alex Xu +1
In previous work, we introduced a 2D localization algorithm called CLAP, Clustering to Localize Across Possibilities, which was used during our championship win in RoboCup 2024…
CLAP: Clustering to Localize Across n Possibilities, A Simple, Robust Geometric Approach in the Presence of Symmetries
Gabriel I. Fernandez, Ruochen Hou, Alex Xu +2
In this paper, we present our localization method called CLAP, Clustering to Localize Across Possibilities, which helped us win the RoboCup 2024 adult-sized autonomous humanoid…
Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents
Ruochen Hou, Gabriel I. Fernandez, Mingzhang Zhu +1
In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in Rob…
Evaluating Data-driven Performances of Mixed Integer Bilinear Formulations for Book Placement Planning
Xuan Lin, Gabriel Ikaika Fernandez, Dennis Hong
Mixed integer bilinear programs (MIBLPs) offer tools to resolve robotics motion planning problems with orthogonal rotation matrices or static moment balance, but require long solvi…
BayRnTune: Adaptive Bayesian Domain Randomization via Strategic Fine-tuning
Tianle Huang, Nitish Sontakke, K. Niranjan Kumar +4
Domain randomization (DR), which entails training a policy with randomized dynamics, has proven to be a simple yet effective algorithm for reducing the gap between simulation and t…
Multi-Modal Multi-Agent Optimization for LIMMS, A Modular Robotics Approach to Delivery Automation
Xuan Lin, Gabriel Fernandez, Yeting Liu +3
In this paper we present a motion planner for LIMMS, a modular multi-agent, multi-modal package delivery platform. A single LIMMS unit is a robot that can operate as an arm or leg…
ReDUCE: Reformulation of Mixed Integer Programs using Data from Unsupervised Clusters for Learning Efficient Strategies
Xuan Lin, Gabriel I. Fernandez, Dennis W. Hong
Mixed integer convex and nonlinear programs, MICP and MINLP, are expressive but require long solving times. Recent work that combines learning methods on solver heuristics has show…