242 citations · 491 across the 52 of their papers we have counts for
46 papers · 1 filter
Local Non-Cooperative Games with Principled Player Selection for Scalable Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a powerful tool for the control of interactive multi-agent robot systems. Indeed, contrary to predict-then-plan paradigms, game-theoretic planner…
NerfBridge: Bringing Real-time, Online Neural Radiance Field Training to Robotics
Javier Yu, Jun En Low, Keiko Nagami +1
This work was presented at the IEEE International Conference on Robotics and Automation 2023 Workshop on Unconventional Spatial Representations. Neural radiance fields (NeRFs) are…
Incorporating Human Path Preferences in Robot Navigation with Minimal Interventions
Oriana Peltzer, Dylan M. Asmar, Mac Schwager +1
Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigat…
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes
Timothy Chen, Preston Culbertson, Mac Schwager
We introduce a transformation of a Neural Radiance Field (NeRF) to an equivalent Poisson Point Process (PPP). This PPP transformation allows for rigorous quantification of uncertai…
Single-Level Differentiable Contact Simulation
Simon Le Cleac'h, Mac Schwager, Zachary Manchester +3
We present a differentiable formulation of rigid-body contact dynamics for objects and robots represented as compositions of convex primitives. Existing optimization-based approach…
Distributed Optimization Methods for Multi-Robot Systems: Part II -- A Survey
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. Thi…
Distributed Optimization Methods for Multi-Robot Systems: Part I -- A Tutorial
Ola Shorinwa, Trevor Halsted, Javier Yu +1
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part seri…
Fast and Scalable Signal Inference for Active Robotic Source Seeking
Christopher E. Denniston, Oriana Peltzer, Joshua Ott +6
In active source seeking, a robot takes repeated measurements in order to locate a signal source in a cluttered and unknown environment. A key component of an active source seeking…
OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
Roya Firoozi, Alexandre Mir, Gadi Sznaier Camps +1
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDA…
Differentiable Physics Simulation of Dynamics-Augmented Neural Objects
Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo +5
We present a differentiable pipeline for simulating the motion of objects that represent their geometry as a continuous density field parameterized as a deep network. This includes…
Intention Communication and Hypothesis Likelihood in Game-Theoretic Motion Planning
Makram Chahine, Roya Firoozi, Wei Xiao +2
Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a p…
Learning Deep SDF Maps Online for Robot Navigation and Exploration
Gadiel Sznaier Camps, Robert Dyro, Marco Pavone +1
We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free…
Game-Theoretic Planning for Autonomous Driving among Risk-Aware Human Drivers
Rohan Chandra, Mingyu Wang, Mac Schwager +1
We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on…
Self-Supervised Traffic Advisors: Distributed, Multi-view Traffic Prediction for Smart Cities
Jiankai Sun, Shreyas Kousik, David Fridovich-Keil +1
Connected and Autonomous Vehicles (CAVs) are becoming more widely deployed, but it is unclear how to best deploy smart infrastructure to maximize their capabilities. One key challe…
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget
Oriana Peltzer, Amanda Bouman, Sung-Kyun Kim +8
We present a method for autonomous exploration of large-scale unknown environments under mission time constraints. We start by proposing the Frontloaded Information Gain Orienteeri…
Dojo: A Differentiable Physics Engine for Robotics
Taylor A. Howell, Simon Le Cleac'h, Jan Brüdigam +5
We present Dojo, a differentiable physics engine for robotics that prioritizes stable simulation, accurate contact physics, and differentiability with respect to states, actions, a…
Vision-Only Robot Navigation in a Neural Radiance World
Michal Adamkiewicz, Timothy Chen, Adam Caccavale +4
Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. NeRFs represent continuous volumetric density and…
TrajectoTree: Trajectory Optimization Meets Tree Search for Planning Multi-contact Dexterous Manipulation
Claire Chen, Preston Culbertson, Marion Lepert +2
Dexterous manipulation tasks often require contact switching, where fingers make and break contact with the object. We propose a method that plans trajectories for dexterous manipu…
DiNNO: Distributed Neural Network Optimization for Multi-Robot Collaborative Learning
Javier Yu, Joseph A. Vincent, Mac Schwager
We present a distributed algorithm that enables a group of robots to collaboratively optimize the parameters of a deep neural network model while communicating over a mesh network.…
Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers
Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond +2
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniqu…
Reciprocal Multi-Robot Collision Avoidance with Asymmetric State Uncertainty
Kunal Shah, Guillermo Angeris, Mac Schwager
We present a general decentralized formulation for a large class of collision avoidance methods and show that all collision avoidance methods of this form are guaranteed to be coll…
CoCo: Online Mixed-Integer Control via Supervised Learning
A. Cauligi, P. Culbertson, E. Schmerling +3
Many robotics problems, from robot motion planning to object manipulation, can be modeled as mixed-integer convex programs (MICPs). However, state-of-the-art algorithms are still u…
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h, Taylor Howell, Shuo Yang +5
We present a general approach for controlling robotic systems that make and break contact with their environments. Contact-implicit model predictive control (CI-MPC) generalizes li…
ALGAMES: A Fast Augmented Lagrangian Solver for Constrained Dynamic Games
Simon Le Cleac'h, Mac Schwager, Zachary Manchester
Dynamic games are an effective paradigm for dealing with the control of multiple interacting actors. This paper introduces ALGAMES (Augmented Lagrangian GAME-theoretic Solver), a s…