3 citations · 6 across the 31 of their papers we have counts for
13 papers · 1 filter
Safe Dynamic Motion Generation in Configuration Space Using Differentiable Distance Fields
Xuemin Chi, Yiming Li, Jihao Huang +3
Generating collision-free motions in dynamic environments is a challenging problem for high-dimensional robotics, particularly under real-time constraints. Control Barrier Function…
Sampling-Based Constrained Motion Planning with Products of Experts
Amirreza Razmjoo, Teng Xue, Suhan Shetty +1
We present a novel approach to enhance the performance of sampling-based Model Predictive Control (MPC) in constrained optimization by leveraging products of experts. Our methodolo…
Robust Contact-rich Manipulation through Implicit Motor Adaptation
Teng Xue, Amirreza Razmjoo, Suhan Shetty +1
Contact-rich manipulation plays an important role in daily human activities. However, uncertain physical parameters often pose significant challenges for both planning and control.…
A Riemannian Take on Distance Fields and Geodesic Flows in Robotics
Yiming Li, Jiacheng Qiu, Sylvain Calinon
Distance functions are crucial in robotics for representing spatial relationships between a robot and its environment. They provide an implicit, continuous, and differentiable repr…
Diffusion-based Virtual Fixtures
Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surf…
Robust Manipulation Primitive Learning via Domain Contraction
Teng Xue, Amirreza Razmjoo, Suhan Shetty +1
Contact-rich manipulation plays an important role in human daily activities, but uncertain parameters pose significant challenges for robots to achieve comparable performance throu…