4 papers
Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators
Theodore M. Belmont, Benjamin A. Christie, Anton Netchaev
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-…
Fine-Tuning Robot Policies While Maintaining User Privacy
Benjamin A. Christie, Sagar Parekh, Dylan P. Losey
Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. Bu…
A Modular Haptic Display with Reconfigurable Signals for Personalized Information Transfer
Antonio Alvarez Valdivia, Benjamin A. Christie, Dylan P. Losey +1
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our pla…
Safe Interactions via Monte Carlo Linear-Quadratic Games
Benjamin A. Christie, Dylan P. Losey
Safety is critical during human-robot interaction. But -- because people are inherently unpredictable -- it is often difficult for robots to plan safe behaviors. Instead of relying…