8 citations · 16 across the 22 of their papers we have counts for
5 papers · 2 filters
WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning
Valentin N. Hartmann, Huang Su, Yijiang Huang +1
Assembly using robots often requires specially designed fixtures, or relies on top-down only assembly strategies. Using multiple robots, we can avoid using fixtures and make roboti…
Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning
Taerim Yoon, Dongho Kang, Kisang Park +3
Collision-free path planning in cluttered, real-world environments relies on a representation of the collision-free space, and existing representations broadly fall into two catego…
Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation
Jiahe Pan, Stelian Coros, Jitendra Malik +1
A primary bottleneck in contact-rich manipulation is the difficulty of collecting real-world data. Sim-to-real reinforcement learning offers a scalable alternative, but the simulat…
Differentiable Environment-Trajectory Co-Optimization for Safe Multi-Agent Navigation
Zhan Gao, Gabriele Fadini, Stelian Coros +1
The environment plays a critical role in multi-agent navigation by imposing spatial constraints, rules, and limitations that agents must navigate around. Traditional approaches tre…
Teaching Robots Like Dogs: Learning Agile Navigation from Luring, Gesture, and Speech
Taerim Yoon, Dongho Kang, Jin Cheng +5
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning throug…