3 citations · 4 across the 5 of their papers we have counts for
8 papers · 1 filter
: Sampling-Based Kinodynamic Replanning and Feedback Control over Approximate, Identified Models of Vehicular Systems
Aravind Sivaramakrishnan, Sumanth Tangirala, Dhruv Metha Ramesh +2
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scen…
Socially Cognizant Robotics for a Technology Enhanced Society
Kristin J. Dana, Clinton Andrews, Kostas Bekris +6
Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advo…
Pick Planning Strategies for Large-Scale Package Manipulation
Shuai Li, Azarakhsh Keipour, Kevin Jamieson +4
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resi…
Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu +8
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-base…
Resolution Complete In-Place Object Retrieval given Known Object Models
Daniel Nakhimovich, Yinglong Miao, Kostas E. Bekris
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use…
You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
Bowen Wen, Wenzhao Lian, Kostas Bekris +1
Promising results have been achieved recently in category-level manipulation that generalizes across object instances. Nevertheless, it often requires expensive real-world data col…