14 citations · 30 across the 12 of their papers we have counts for
9 papers · 1 filter
A Contact-Driven Framework for Manipulating in the Blind
Muhammad Suhail Saleem, Lai Yuan, Maxim Likhachev
Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a…
Lazy Heuristic Search for Solving POMDPs with Expensive-to-Compute Belief Transitions
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
Heuristic search solvers like RTDP-Bel and LAO* have proven effective for computing optimal and bounded sub-optimal solutions for Partially Observable Markov Decision Processes (PO…
A POMDP-based hierarchical planning framework for manipulation under pose uncertainty
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
Robots often face challenges in domestic environments where visual feedback is ineffective, such as retrieving objects obstructed by occlusions or finding a light switch in the dar…
A preprocessing-based planning framework for utilizing contacts in high-precision insertion tasks
Muhammad Suhail Saleem, Rishi Veerapaneni, Maxim Likhachev
In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of t…
A Data Efficient Framework for Learning Local Heuristics
Rishi Veerapaneni, Jonathan Park, Muhammad Suhail Saleem +1
With the advent of machine learning, there have been several recent attempts to learn effective and generalizable heuristics. Local Heuristic A* (LoHA*) is one recent method that i…
Preprocessing-based Kinodynamic Motion Planning Framework for Intercepting Projectiles using a Robot Manipulator
Ramkumar Natarajan, Hanlan Yang, Qintong Xie +6
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfull…
Learning Local Heuristics for Search-Based Navigation Planning
Rishi Veerapaneni, Muhammad Suhail Saleem, Maxim Likhachev
Graph search planning algorithms for navigation typically rely heavily on heuristics to efficiently plan paths. As a result, while such approaches require no training phase and can…
Search-based Path Planning for a High Dimensional Manipulator in Cluttered Environments Using Optimization-based Primitives
Muhammad Suhail Saleem, Raghav Sood, Sho Onodera +3
In this work we tackle the path planning problem for a 21-dimensional snake robot-like manipulator, navigating a cluttered gas turbine for the purposes of inspection. Heuristic sea…
Manipulation Planning Among Movable Obstacles Using Physics-Based Adaptive Motion Primitives
Dhruv Mauria Saxena, Muhammad Suhail Saleem, Maxim Likhachev
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push th…