8 citations · 14 across the 6 of their papers we have counts for
6 papers · 1 filter
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
Cheng Chi, Zhenjia Xu, Chuer Pan +5
We present Universal Manipulation Interface (UMI) -- a data collection and policy learning framework that allows direct skill transfer from in-the-wild human demonstrations to depl…
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets
Thomas Cohn, Mark Petersen, Max Simchowitz +1
Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory o…
Growing Convex Collision-Free Regions in Configuration Space using Nonlinear Programming
Mark Petersen, Russ Tedrake
One of the most difficult parts of motion planning in configuration space is ensuring a trajectory does not collide with task-space obstacles in the environment. Generating regions…
Certified Polyhedral Decompositions of Collision-Free Configuration Space
Hongkai Dai, Alexandre Amice, Peter Werner +2
Understanding the geometry of collision-free configuration space (C-free) in the presence of task-space obstacles is an essential ingredient for collision-free motion planning. Whi…
Easing Reliance on Collision-free Planning with Contact-aware Control
Tao Pang, Russ Tedrake
We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence…
Pushbroom Stereo for High-Speed Navigation in Cluttered Environments
Andrew J. Barry, Russ Tedrake
We present a novel stereo vision algorithm that is capable of obstacle detection on a mobile-CPU processor at 120 frames per second. Our system performs a subset of standard block-…