13 papers
Fast and Safe Trajectory Optimization for Mobile Manipulators With Neural Configuration Space Distance Field
Yulin Li, Zhiyuan Song, Yiming Li +8
Mobile manipulators promise agile, long-horizon behavior by coordinating base and arm motion, yet whole-body trajectory optimization in cluttered, confined spaces remains difficult…
Object-centric Task Representation and Transfer using Diffused Orientation Fields
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Curved objects pose a fundamental challenge for skill transfer in robotics: unlike planar surfaces, they do not admit a global reference frame. As a result, task-relevant direction…
Geometry-aware Policy Imitation
Yiming Li, Nael Darwiche, Amirreza Razmjoo +4
We propose a Geometry-aware Policy Imitation (GPI) approach that rethinks imitation learning by treating demonstrations as geometric curves rather than collections of state-action…
Cooperative Task Spaces for Multi-Arm Manipulation Control based on Similarity Transformations
Tobias Löw, Cem Bilaloglu, Sylvain Calinon
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to ena…
Efficient and Real-Time Motion Planning for Robotics Using Projection-Based Optimization
Xuemin Chi, Hakan Girgin, Tobias Löw +6
Generating motions for robots interacting with objects of various shapes is a complex challenge, further complicated by the robot geometry and multiple desired behaviors. While cur…
A Smooth Analytical Formulation of Collision Detection and Rigid Body Dynamics With Contact
Onur Beker, Nico Gürtler, Ji Shi +4
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such method…