1.2k citations · 1.3k across the 14 of their papers we have counts for
18 papers · 1 filter
In-Place Rotation for Enhancing Snake-like Robot Mobility
Alexander H. Chang, Patricio A. Vela
Gaits engineered for snake-like robots to rotate in-place instrumentally fill a gap in the set of locomotive gaits that have traditionally prioritized translation. This paper desig…
SGL: Symbolic Goal Learning in a Hybrid, Modular Framework for Human Instruction Following
Ruinian Xu, Hongyi Chen, Yunzhi Lin +1
This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. E…
Primitive Shape Recognition for Object Grasping
Yunzhi Lin, Chao Tang, Fu-Jen Chu +2
Shape informs how an object should be grasped, both in terms of where and how. As such, this paper describes a segmentation-based architecture for decomposing objects sensed with a…
Potential Gap: Using Reactive Policies to Guarantee Safe Navigation
Ruoyang Xu, Shiyu Feng, Patricio A. Vela
This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigati…
NavTuner: Learning a Scene-Sensitive Family of Navigation Policies
Haoxin Ma, Justin S. Smith, Patricio A. Vela
The advent of deep learning has inspired research into end-to-end learning for a variety of problem domains in robotics. For navigation, the resulting methods may not have the gene…
Multi-View Fusion for Multi-Level Robotic Scene Understanding
Yunzhi Lin, Jonathan Tremblay, Stephen Tyree +2
We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a…