119 citations · 355 across the 60 of their papers we have counts for
4 papers · 2 filters
Multimodal Probabilistic Model-Based Planning for Human-Robot Interaction
Edward Schmerling, Karen Leung, Wolf Vollprecht +1
This paper presents a method for constructing human-robot interaction policies in settings where multimodality, i.e., the possibility of multiple highly distinct futures, plays a c…
ADAPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems
James Harrison, Animesh Garg, Boris Ivanovic +4
Model-free policy learning has enabled robust performance of complex tasks with relatively simple algorithms. However, this simplicity comes at the cost of requiring an Oracle and…
Group Marching Tree: Sampling-Based Approximately Optimal Motion Planning on GPUs
Brian Ichter, Edward Schmerling, Marco Pavone
This paper presents a novel approach, named the Group Marching Tree (GMT*) algorithm, to planning on GPUs at rates amenable to application within control loops, allowing planning i…
Perception-Aware Motion Planning via Multiobjective Search on GPUs
Brian Ichter, Benoit Landry, Edward Schmerling +1
In this paper we describe a framework towards computing well-localized, robust motion plans through the perception-aware motion planning problem, whereby we seek a low-cost motion…