13 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…
PatternDex: Learning Interaction Patterns to Guide Reinforcement Learning of Bimanual Dexterous Manipulation of Articulated Objects
David Minkwan Kim, Runfa Blark Li, Beckham Po-Ju Lee +2
In this paper, we develop a method that enables bimanual dexterous hands to manipulate articulated objects with a high success rate without suffering from an embodiment gap. We obs…
OREN-X: Octree Residual Network for Real-Time Multi-Modal Mapping
Zhirui Dai, Qihao Qian, Dinh Minh Nguyen +6
To achieve general-purpose autonomy over long horizons, a robot needs to maintain spatial environment information that supports a variety of tasks: geometry for planning and contro…
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…
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…
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy
Saida Liu, Nikolay Atanasov, Shumon Koga
This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables mul…
OREN: Octree Residual Network for Real-Time Euclidean Signed Distance Mapping
Zhirui Dai, Qihao Qian, Tianxing Fan +1
Reconstructing signed distance functions (SDFs) from point cloud data benefits many robot autonomy capabilities, including localization, mapping, motion planning, and control. Meth…
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning
Sunghwan Kim, Woojeh Chung, Zhirui Dai +5
In this paper, we demonstrate that mobile manipulation policies utilizing a 3D latent map achieve stronger spatial and temporal reasoning than policies relying solely on images. We…
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction
Yulun Tian, Hanwen Cao, Sunghwan Kim +1
Neural implicit representations have had a significant impact on simultaneous localization and mapping (SLAM) by enabling robots to build continuous, differentiable, and high-fidel…
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…
Generalizable Motion Planning via Operator Learning
Sharath Matada, Luke Bhan, Yuanyuan Shi +1
In this work, we introduce a planning neural operator (PNO) for predicting the value function of a motion planning problem. We recast value function approximation as learning a sin…
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…