52 citations · 135 across the 55 of their papers we have counts for
58 papers
Geometric Interpretation of Brownian Motion on Riemannian Manifolds
Taeyoung Lee, Gregory S. Chirikjian
This paper presents a unified geometric framework for Brownian motion on manifolds, encompassing intrinsic Riemannian manifolds, embedded submanifolds, and Lie groups. The approach…
Means of Random Variables in Lie Groups
Shiraz Khan, Jikai Ye, Gregory S. Chirikjian
The concepts of mean (i.e., average) and covariance of a random variable are fundamental in statistics, and are used to solve real-world problems such as those that arise in roboti…
Fast Convolutions on via Radial Translational Dependence and Classical FFT
Arash Ghaani Farashahi, Gregory S. Chirikjian
Let denote the right coset space of the subgroup consisting of translational isometries of the orthogonal lattice in the non-Abelian g…
Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking with a Low-cost Camera
Peiyuan Ni, Chee Meng Chew, Marcelo H. Ang +1
Bin-picking of metal objects using low-cost RGB-D cameras often suffers from sparse depth information and reflective surface textures, leading to errors and the need for manual lab…
Parameter Estimation on Homogeneous Spaces
Shiraz Khan, Gregory S. Chirikjian
The Fisher Information Metric (FIM) and the associated Cramér-Rao Bound (CRB) are fundamental tools in statistical signal processing, which inform the efficient design of experimen…
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets
Jikai Ye, Wanze Li, Shiraz Khan +1
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing,…
Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
Wanze Li, Wan Su, Gregory S. Chirikjian
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first ident…
Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pa…
Non-Abelian Fourier Analysis on
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper presents a systematic study for the general theory of non-Abelian Fourier series of integrable functions on the homogeneous space , where $SE(d…
RAIL: Robot Affordance Imagination with Large Language Models
Ceng Zhang, Xin Meng, Dongchen Qi +1
This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen clas…
Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective
Jikai Ye, Gregory S. Chirikjian
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via Mck…
Asymptotically Steerable Finite Fourier-Bessel Transforms and Closure under Convolution
Arash Ghaani Farashahi, Gregory S. Chirikjian
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-B…
A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equati…
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs
Xin Meng, Hongtao Wu, Sipu Ruan +1
In this letter, a paradigm for the classification and manipulation of previously unseen objects is established and demonstrated through a real example of chairs. We present a novel…
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration
Sipu Ruan, Weixiao Liu, Xiaoli Wang +2
This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion P…
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Yuwei Wu, Weixiao Liu, Zhiyang Liu +1
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and c…
On the Inertial Rotational Brownian Motion of Arbitrarily Shaped Particles
Amitesh S. Jayaraman, Jikai Ye, Gregory S. Chirikjian
This article reports the modeling of inertial rotational Brownian motion as an Ornstein-Uhlenbeck process evolving on the cotangent bundle of the rotation group, SO(3). The benefit…
Marching-Primitives: Shape Abstraction from Signed Distance Function
Weixiao Liu, Yuwei Wu, Sipu Ruan +1
Representing complex objects with basic geometric primitives has long been a topic in computer vision. Primitive-based representations have the merits of compactness and computatio…
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
Boren Jiang, Ximeng Tao, Yuanfeng Han +2
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additi…
Primitive-based Shape Abstraction via Nonparametric Bayesian Inference
Yuwei Wu, Weixiao Liu, Sipu Ruan +1
3D shape abstraction has drawn great interest over the years. Apart from low-level representations such as meshes and voxels, researchers also seek to semantically abstract complex…
When Kinematics Dominates Mechanics: Locally Volume-Preserving Primitives for Model Reduction in Finite Elasticity
Xu Yi, Gregory S. Chirikjian
A new, and extremely fast, computational modeling paradigm is introduced here for specific finite elasticity problems that arise in the context of soft robotics. Whereas continuum…
Entropy, Symmetry, and the Difficulty of Self-Replication
Gregory S. Chirikjian
The defining property of an artificial physical self-replicating system, such as a self-replicating robot, is that it has the ability to make copies of itself from basic parts. Thr…
Watch Me Calibrate My Force-Sensing Shoes!
Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move…
Transporters with Visual Foresight for Solving Unseen Rearrangement Tasks
Hongtao Wu, Jikai Ye, Xin Meng +2
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propos…