10 citations · 14 across the 12 of their papers we have counts for
6 papers · 1 filter
TAPESIM: Efficient Simulation of Adhesive Tape Dispensing for Robotic Manipulation
Zhaofeng Luo, Xinyu Lu, Jaehoon Choi +11
Applying adhesive tape to secure wire harnesses or seal packages requires robots to coordinate a flexible strip, a moving roll, and surfaces that attach and detach. Simulation coul…
Gradient-based Trajectory Optimization with Parallelized Differentiable Traffic Simulation
Sanghyun Son, Laura Zheng, Brian Clipp +3
We present a parallelized differentiable traffic simulator based on the Intelligent Driver Model (IDM), a car-following framework that incorporates driver behavior as key variables…
Deep Stochastic Kinematic Models for Probabilistic Motion Forecasting in Traffic
Laura Zheng, Sanghyun Son, Jing Liang +3
In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model.…
GeoLCR: Attention-based Geometric Loop Closure and Registration
Jing Liang, Sanghyun Son, Ming Lin +1
We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point c…
WGICP: Differentiable Weighted GICP-Based Lidar Odometry
Sanghyun Son, Jing Liang, Ming Lin +1
We present a novel differentiable weighted generalized iterative closest point (WGICP) method applicable to general 3D point cloud data, including that from Lidar. Our method build…
Traffic-Aware Autonomous Driving with Differentiable Traffic Simulation
Laura Zheng, Sanghyun Son, Ming C. Lin
While there have been advancements in autonomous driving control and traffic simulation, there have been little to no works exploring their unification with deep learning. Works in…