68 citations · 89 across the 12 of their papers we have counts for
12 papers
A practical, fast method for solving sum-of-squares problems for very large polynomials
Daniel Keren, Margarita Osadchy, Roi Poranne
Sum of squares (SOS) optimization is a powerful technique for solving problems where the positivity of a polynomials must be enforced. The common approach to solve an SOS problem i…
Modal Folding: Discovering Smooth Folding Patterns for Sheet Materials using Strain-Space Modes
Pengbin Tang, Ronan Hinchet, Roi Poranne +2
Folding can transform mundane objects such as napkins into stunning works of art. However, finding new folding transformations for sheet materials is a challenging problem that req…
Differentiable Task Assignment and Motion Planning
Jimmy Envall, Roi Poranne, Stelian Coros
Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many e…
Differentiable Collision Avoidance Using Collision Primitives
Simon Zimmermann, Matthias Busenhart, Simon Huber +2
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method…
Obstacle Aware Sampling for Path Planning
Murad Tukan, Alaa Maalouf, Dan Feldman +1
Many path planning algorithms are based on sampling the state space. While this approach is very simple, it can become costly when the obstacles are unknown, since samples hitting…
Learning Solution Manifolds for Control Problems via Energy Minimization
Miguel Zamora, Roi Poranne, Stelian Coros
A variety of control tasks such as inverse kinematics (IK), trajectory optimization (TO), and model predictive control (MPC) are commonly formulated as energy minimization problems…
Spatial Computing and Intuitive Interaction: Bringing Mixed Reality and Robotics Together
Jeffrey Delmerico, Roi Poranne, Federica Bogo +5
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular…
RealisticHands: A Hybrid Model for 3D Hand Reconstruction
Michael Seeber, Roi Poranne, Marc Polleyfeys +1
Estimating 3D hand meshes from RGB images robustly is a highly desirable task, made challenging due to the numerous degrees of freedom, and issues such as self similarity and occlu…
Manipulability optimization for multi-arm teleoperation
Florian Kennel-Maushart, Roi Poranne, Stelian Coros
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an…
Optimal control via second order sensitivity analysis
Simon Zimmermann, Roi Poranne, Stelian Coros
This short note shows how to solve optimal control problems using second order sensitivity analysis
Shape Representation by Zippable Ribbons
Christian Schüller, Roi Poranne, Olga Sorkine-Hornung
Shape fabrication from developable parts is the basis for arts such as papercraft and needlework, as well as modern architecture and CAD in general, and it has inspired much resear…
On Linear Spaces of Polyhedral Meshes
Roi Poranne, Renjie Chen, Craig Gotsman
Polyhedral meshes (PM) - meshes having planar faces - have enjoyed a rise in popularity in recent years due to their importance in architectural and industrial design. However, the…