4 papers
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
Object-Informed Model Predictive Path Integral Control for Non-Prehensile Robot Manipulation
Nikola Raicevic, Bharath Raam Radhakrishnan, Chenbin Yu +2
Long-horizon planning for non-prehensile robot manipulation is challenging due to underactuated and discontinuous interactions. We propose a hierarchical formulation of model predi…
Adapting Neural Robot Dynamics on the Fly for Predictive Control
Abdullah Altawaitan, Nikolay Atanasov
Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world…
Learning Generalizable Feature Fields for Mobile Manipulation
Ri-Zhao Qiu, Yafei Hu, Yuchen Song +8
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires c…