68 citations · 89 across the 12 of their papers we have counts for
6 papers · 1 filter
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…
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…