5 papers
geodex: A Library for Motion Planning on Riemannian Manifolds
Phone Thiha Kyaw, Ben Wei, Sepehr Samavi +2
Planning motions that respect the intrinsic geometry of a robot's configuration space, including its curvature and a configuration-dependent notion of cost, yields shorter, lower-e…
Induced Riemannian Metrics for Motion Planning with Constraints
Phone Thiha Kyaw, Thomas Cohn, Miguel Angel Rogel Garcia +1
In constrained motion planning problems, task and loop-closure constraints restrict a robot's motion to a curved, lower-dimensional submanifold of its configuration space. Planners…
Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics
Miguel Angel Rogel Garcia, Phone Thiha Kyaw, Jonathan Kelly
Recent studies suggest that diffusion models can recover geometric structure in the data they are trained on, yet the supporting evidence has so far come mostly from natural-image…
Residual Reward Models: Leveraging Prior Knowledge for Efficient Preference-based Reinforcement Learning in Robotics
Chenyang Cao, Miguel Rogel-García, Mohamed Nabail +2
Preference-based Reinforcement Learning (PbRL) provides a promising alternative to heuristic reward design in complex robotic environments. However, PbRL often suffers from poor sa…
Automated Continuous Force-Torque Sensor Bias Estimation
Philippe Nadeau, Miguel Rogel Garcia, Emmett Wise +1
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements…