2 citations · 3 across the 6 of their papers we have counts for
6 papers
Parabolic Position Encoding: Vision-Centric, Principled, Extrapolatable, General
Christoffer Koo Øhrstrøm, Rafael I. Cabral Muchacho, Yifei Dong +4
We propose Parabolic Position Encoding (PaPE), a parabola-based position encoding for vision modalities in attention-based architectures. Given a set of vision tokens-such as from…
The First WARA Robotics Mobile Manipulation Challenge -- Lessons Learned
David Cáceres Domínguez, Marco Iannotta, Abhishek Kashyap +21
The first WARA Robotics Mobile Manipulation Challenge, held in December 2024 at ABB Corporate Research in Västerås, Sweden, addressed the automation of task-intensive and repetitiv…
Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions
Rafael I. Cabral Muchacho, Florian T. Pokorny
Geodesic distances play a fundamental role in robotics, as they efficiently encode global geometric information of the domain. Recent methods use neural networks to approximate geo…
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
Alejandro Sánchez Roncero, Rafael I. Cabral Muchacho, Petter Ögren
Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environmen…
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…