1.2k citations · 3.1k across the 91 of their papers we have counts for
103 papers
Bidirectional Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We focus on the problem of efficient anytime kinodynamic planning for systems with complex dynamics in unstructured environments that make using precomputed motion primitives infea…
RoboPlayground: Democratizing Robotic Evaluation through Structured Physical Domains
Yi Ru Wang, Carter Ung, Evan Gubarev +3
Evaluation of robotic manipulation systems has largely relied on fixed benchmarks authored by a small number of experts, where task instances, constraints, and success criteria are…
The Geometry of Learning to Avoid Interventions
Ethan Pronovost, Khimya Khetarpal, Siddhartha Srinivasa
Human interventions are a common source of supervision in autonomous systems during deployment. Many existing approaches are based on avoiding interventions, yet the consequences o…
Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are mo…
RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluation
Yi Ru Wang, Carter Ung, Christopher Tan +11
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existin…
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
Matt Schmittle, Rohan Baijal, Nathan Hatch +6
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a…
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels
Abhay Deshpande, Liyiming Ke, Quinn Pfeifer +2
We consider imitation learning with access only to expert demonstrations, whose real-world application is often limited by covariate shift due to compounding errors during executio…
Multi-Sample Long Range Path Planning under Sensing Uncertainty for Off-Road Autonomous Driving
Matt Schmittle, Rohan Baijal, Brian Hou +2
We focus on the problem of long-range dynamic replanning for off-road autonomous vehicles, where a robot plans paths through a previously unobserved environment while continuously…
An Adaptable, Safe, and Portable Robot-Assisted Feeding System
Ethan Kroll Gordon, Rajat Kumar Jenamani, Amal Nanavati +12
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, w…
Multiple Ways of Working with Users to Develop Physically Assistive Robots
Amal Nanavati, Max Pascher, Vinitha Ranganeni +6
Despite the growth of physically assistive robotics (PAR) research over the last decade, nearly half of PAR user studies do not involve participants with the target disabilities. T…
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving
Sidharth Talia, Matt Schmittle, Alexander Lambert +3
Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to…
NEWTON: Are Large Language Models Capable of Physical Reasoning?
Yi Ru Wang, Jiafei Duan, Dieter Fox +1
Large Language Models (LLMs), through their contextualized representations, have been empirically proven to encapsulate syntactic, semantic, word sense, and common-sense knowledge.…
CCIL: Continuity-based Data Augmentation for Corrective Imitation Learning
Liyiming Ke, Yunchu Zhang, Abhay Deshpande +2
We present a new technique to enhance the robustness of imitation learning methods by generating corrective data to account for compounding errors and disturbances. While existing…
PuSHR: A Multirobot System for Nonprehensile Rearrangement
Sidharth Talia, Arnav Thareja, Christoforos Mavrogiannis +2
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoi…
From Crowd Motion Prediction to Robot Navigation in Crowds
Sriyash Poddar, Christoforos Mavrogiannis, Siddhartha S. Srinivasa
We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard…
Cherry-Picking with Reinforcement Learning : Robust Dynamic Grasping in Unstable Conditions
Yunchu Zhang, Liyiming Ke, Abhay Deshpande +2
Grasping small objects surrounded by unstable or non-rigid material plays a crucial role in applications such as surgery, harvesting, construction, disaster recovery, and assisted…
Lazy Incremental Search for Efficient Replanning with Bounded Suboptimality Guarantees
Jaein Lim, Mahdi Ghanei, R. Connor Lawson +2
We present a lazy incremental search algorithm, Lifelong-GLS (L-GLS), along with its bounded suboptimal version, Bounded L-GLS (B-LGLS) that combine the search efficiency of increm…
Real World Offline Reinforcement Learning with Realistic Data Source
Gaoyue Zhou, Liyiming Ke, Siddhartha Srinivasa +3
Offline reinforcement learning (ORL) holds great promise for robot learning due to its ability to learn from arbitrary pre-generated experience. However, current ORL benchmarks are…
Git Re-Basin: Merging Models modulo Permutation Symmetries
Samuel K. Ainsworth, Jonathan Hayase, Siddhartha Srinivasa
The success of deep learning is due in large part to our ability to solve certain massive non-convex optimization problems with relative ease. Though non-convex optimization is NP-…
Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates
Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel +1
Iterative optimization algorithms depend on access to information about the objective function. In a differentiable programming framework, this information, such as gradients, can…
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots
Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha Srinivasa +1
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of d…
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
Patrick Lancaster, Pratik Gyawali, Christoforos Mavrogiannis +2
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for…
On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control
Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel +1
A classical approach for solving discrete time nonlinear control on a finite horizon consists in repeatedly minimizing linear quadratic approximations of the original problem aroun…
Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation
Rishabh Madan, Harshit Sikchi, Ethan K. Gordon +1
We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-rea…