225 citations · 660 across the 34 of their papers we have counts for
42 papers
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning
Kai Pfeiffer, Leonardo Edgar, Quang-Cuong Pham
Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-g…
Example When Local Optimal Policies Contain Unstable Control
Bing Song, Jean-Jacques Slotine, Quang-Cuong Pham
We provide a new perspective to understand why reinforcement learning (RL) struggles with robustness and generalization. We show, by examples, that local optimal policies may conta…
Realtime Trajectory Smoothing with Neural Nets
Shohei Fujii, Quang-Cuong Pham
In order to safely and efficiently collaborate with humans, industrial robots need the ability to alter their motions quickly to react to sudden changes in the environment, such as…
MoboTSP: Solving the Task Sequencing Problem for Mobile Manipulators
Nicholas Adrian, Quang-Cuong Pham
We introduce a new approach to tackle the mobile manipulator task sequencing problem. We leverage computational geometry, graph theory and combinatorial optimization to yield a pri…
Learning Sequences of Manipulation Primitives for Robotic Assembly
Nghia Vuong, Hung Pham, Quang-Cuong Pham
This paper explores the idea that skillful assembly is best represented as dynamic sequences of Manipulation Primitives, and that such sequences can be automatically discovered by…
Development of a Robotic System for Automated Decaking of 3D-Printed Parts
Huy Nguyen, Nicholas Adrian, Joyce Lim Xin Yan +3
With the rapid rise of 3D-printing as a competitive mass manufacturing method, manual "decaking" - i.e. removing the residual powder that sticks to a 3D-printed part - has become a…