4 papers · 1 filter
Masked Registration and Autoencoding of CT Images for Predictive Tibia Reconstruction
Hongyou Zhou, Cederic Aßmann, Alaa Bejaoui +8
Surgical planning for complex tibial fractures can be challenging for surgeons, as the 3D structure of the later desirable bone alignment may be difficult to imagine. To assist in…
SVN-ICP: Uncertainty Estimation of ICP-based LiDAR Odometry using Stein Variational Newton
Shiping Ma, Haoming Zhang, Marc Toussaint
This letter introduces SVN-ICP, a novel Iterative Closest Point (ICP) algorithm with uncertainty estimation that leverages Stein Variational Newton (SVN) on manifold. Designed spec…
Trajectory First: A Curriculum for Discovering Diverse Policies
Cornelius V. Braun, Sayantan Auddy, Marc Toussaint
Being able to solve a task in diverse ways makes agents more robust to task variations and less prone to local optima. In this context, constrained diversity optimization has becom…
Meta-Optimization and Program Search using Language Models for Task and Motion Planning
Denis Shcherba, Eckart Cobo-Briesewitz, Cornelius V. Braun +1
Intelligent interaction with the real world requires robotic agents to jointly reason over high-level plans and low-level controls. Task and motion planning (TAMP) addresses this b…