4 papers
HIO-SDF: Hierarchical Incremental Online Signed Distance Fields
Vasileios Vasilopoulos, Suveer Garg, Jinwook Huh +2
A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it…
RAMP: Hierarchical Reactive Motion Planning for Manipulation Tasks Using Implicit Signed Distance Functions
Vasileios Vasilopoulos, Suveer Garg, Pedro Piacenza +2
We introduce Reactive Action and Motion Planner (RAMP), which combines the strengths of sampling-based and reactive approaches for motion planning. In essence, RAMP is a hierarchic…
Self-supervised Wide Baseline Visual Servoing via 3D Equivariance
Jinwook Huh, Jungseok Hong, Suveer Garg +2
One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause d…
Feasibility and Acceptability of Remote Neuromotor Rehabilitation Interactions Using Social Robot Augmented Telepresence: A Case Study
Michael J. Sobrepera, Vera G. Lee, Suveer Garg +2
There is a growing need to deliver rehabilitation care to patients remotely. Long term demographic changes, geographic shortages of care providers, and now a global pandemic contri…