4 papers
Value-Preserving Action Quantization
Max Muchen Sun, Jueun Kwon, Benjamin Riviere +1
Search-based policy learning, such as Monte Carlo tree search (MCTS), offers the flexibility to trade runtime computation for data efficiency and adaptation to novel environments.…
Scalable Coverage Trajectory Synthesis on GPUs as Statistical Inference
Max M. Sun, Jueun Kwon, Todd Murphey
Coverage motion planning is essential to a wide range of robotic tasks. Unlike conventional motion planning problems, which reason over temporal sequences of states, coverage motio…
Volumetric Ergodic Control
Jueun Kwon, Max M. Sun, Todd Murphey
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, w…
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal +11
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that ca…