1 citations · 1 across the 12 of their papers we have counts for
13 papers
FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
Mani Amani, Hesam Mojtahedi, Reza Akhavian +2
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples…
From Distances to Trajectories: Real-Time Signed Distance Function Mapping and Distance-Accelerated Motion Planning for UAVs
Jason Stanley, Zhirui Dai, Qihao Qian +6
Autonomous flight in cluttered environments requires a robot to build a geometric map of its surroundings and plan safe, dynamically feasible trajectories, all onboard and in real…
DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use
Runfa Blark Li, Kuang-Ting Tu, Nikola Raicevic +6
Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control poli…
Closed-Loop Object-Informed Control for Non-Prehensile Robot Manipulation
Nikola Raicevic, Hyomuk Kim, Bharath Raam Radhakrishnan +5
Non-prehensile robot manipulation is challenging due to discontinuous, long-horizon interactions between the robot and the objects it manipulates. Sampling-based model predictive c…
Learning Multi-View Spatial Reasoning from Cross-View Relations
Suchae Jeong, Jaehwi Song, Haeone Lee +9
Vision-language models (VLMs) have achieved impressive results on single-view vision tasks, but lack the multi-view spatial reasoning capabilities essential for embodied AI systems…
PhysGraph: Physically-Grounded Graph-Transformer Policies for Bimanual Dexterous Hand-Tool-Object Manipulation
Runfa Blark Li, David Kim, Xinshuang Liu +7
Bimanual dexterous manipulation for tool use remains a formidable challenge in robotics due to the high-dimensional state space and complicated contact dynamics. Existing methods n…
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani +4
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a p…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes
Runfa Blark Li, Mahdi Shaghaghi, Keito Suzuki +8
Simultaneous Localization and Mapping (SLAM) is one of the most important environment-perception and navigation algorithms for computer vision, robotics, and autonomous cars/drones…
Learning Scene-Level Signed Directional Distance Function with Ellipsoidal Priors and Neural Residuals
Zhirui Dai, Hojoon Shin, Yulun Tian +2
Dense reconstruction and differentiable rendering are fundamental tightly connected operations in 3D vision and computer graphics. Recent neural implicit representations demonstrat…
Neural Configuration-Space Barriers for Manipulation Planning and Control
Kehan Long, Ki Myung Brian Lee, Nikola Raicevic +3
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent adv…
SplatSDF: Boosting SDF-NeRF via Architecture-Level Fusion with Gaussian Splats
Runfa Blark Li, Keito Suzuki, Bang Du +3
Signed distance-radiance field (SDF-NeRF) is a promising environment representation that offers both photo-realistic rendering and geometric reasoning such as proximity queries for…
Safe Bubble Cover for Motion Planning on Distance Fields
Ki Myung Brian Lee, Zhirui Dai, Cedric Le Gentil +3
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of s…