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Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer
Suneel Belkhale, Ethan K. Gordon, Yuxiao Chen +3
Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes in…
Stein Variational Probabilistic Roadmaps
Alexander Lambert, Brian Hou, Rosario Scalise +2
Efficient and reliable generation of global path plans are necessary for safe execution and deployment of autonomous systems. In order to generate planning graphs which adequately…
Leveraging Experience in Lazy Search
Mohak Bhardwaj, Sanjiban Choudhury, Byron Boots +1
Lazy graph search algorithms are efficient at solving motion planning problems where edge evaluation is the computational bottleneck. These algorithms work by lazily computing the…
Real Robot Challenge: A Robotics Competition in the Cloud
Stefan Bauer, Felix Widmaier, Manuel Wüthrich +39
Dexterous manipulation remains an open problem in robotics. To coordinate efforts of the research community towards tackling this problem, we propose a shared benchmark. We designe…
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids
Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S. Srinivasa
We focus on the problem of analyzing multiagent interactions in traffic domains. Understanding the space of behavior of real-world traffic may offer significant advantages for algo…
Winding Through: Crowd Navigation via Topological Invariance
Christoforos Mavrogiannis, Krishna Balasubramanian, Sriyash Poddar +2
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent appr…
Desk Organization: Effect of Multimodal Inputs on Spatial Relational Learning
Ryan Rowe, Shivam Singhal, Daqing Yi +2
For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state…
Lazy Lifelong Planning for Efficient Replanning in Graphs with Expensive Edge Evaluation
Jaein Lim, Siddhartha Srinivasa, Panagiotis Tsiotras
We present an incremental search algorithm, called Lifelong-GLS, which combines the vertex efficiency of Lifelong Planning A* (LPA*) and the edge efficiency of Generalized Lazy Sea…
Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
Niklas Funk, Charles Schaff, Rishabh Madan +10
Dexterous manipulation is a challenging and important problem in robotics. While data-driven methods are a promising approach, current benchmarks require simulation or extensive en…
Guided Incremental Local Densification for Accelerated Sampling-based Motion Planning
Aditya Mandalika, Rosario Scalise, Brian Hou +2
Sampling-based motion planners rely on incremental densification to discover progressively shorter paths. After computing feasible path between start and goal , the…
Learning Online from Corrective Feedback: A Meta-Algorithm for Robotics
Matthew Schmittle, Sanjiban Choudhury, Siddhartha S. Srinivasa
A key challenge in Imitation Learning (IL) is that optimal state actions demonstrations are difficult for the teacher to provide. For example in robotics, providing kinesthetic dem…