6 papers
Becoming a Fruit Ninja: Real-Time Probabilistic Kinodynamic Planning for Manipulator Projectile Interception
Lucas Chen, Austin Garrett, Andrew Niu +1
Projectile interception is a challenging dynamic manipulation problem. Intercepting a thrown object with a robot arm requires reaching a point on the object's path as the object pa…
Stochastic Neural Signed Swept Volume for Real-time Chance-Constrained Trajectory Optimization
Qingyi Chen, Kevin Zhang, Lucas Chen +1
Collision-free motion planning requires reliable collision models from sensed environments and validation of states along a continuous trajectory. To make this tractable, most plan…
Differentiable Particle Optimization for Fast Sequential Manipulation
Lucas Chen, Shrutheesh Raman Iyer, Zachary Kingston
Sequential robot manipulation tasks require finding collision-free trajectories that satisfy geometric constraints across multiple object interactions in potentially high-dimension…
Parallel Simulation of Contact and Actuation for Soft Growing Robots
Yitian Gao, Lucas Chen, Priyanka Bhovad +3
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is the…
Multimodal Human-Intent Modeling for Contextual Robot-to-Human Handovers of Arbitrary Objects
Lucas Chen, Guna Avula, Hanwen Ren +2
Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The exist…
Physics-Grounded Differentiable Simulation for Soft Growing Robots
Lucas Chen, Yitian Gao, Sicheng Wang +3
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain cha…