1 citations · 1 across the 5 of their papers we have counts for
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Bidirectional Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make precomputing motion primitives infeasible…
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
Yi Ru Wang, Carter Ung, Christopher Tan +11
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existin…
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains
Yi Ru Wang, Carter Ung, Evan Gubarev +3
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are…
Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are mo…
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
Matt Schmittle, Rohan Baijal, Nathan Hatch +6
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a…
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels
Abhay Deshpande, Liyiming Ke, Quinn Pfeifer +2
We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during executio…