21 citations · 136 across the 33 of their papers we have counts for
53 papers · 1 filter
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…
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…
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…