1 citations · 1 across the 12 of their papers we have counts for
10 papers · 1 filter
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…
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…
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…
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…