23 citations · 97 across the 30 of their papers we have counts for
26 papers · 1 filter
Learning robotic cutting from demonstration: Non-holonomic DMPs using the Udwadia-Kalaba method
Artūras Straižys, Michael Burke, Subramanian Ramamoorthy
Dynamic Movement Primitives (DMPs) offer great versatility for encoding, generating and adapting complex end-effector trajectories. DMPs are also very well suited to learning manip…
Attainment Regions in Feature-Parameter Space for High-Level Debugging in Autonomous Robots
Simón C. Smith, Subramanian Ramamoorthy
Understanding a controller's performance in different scenarios is crucial for robots that are going to be deployed in safety-critical tasks. If we do not have a model of the dynam…
Interpretable Goal Recognition in the Presence of Occluded Factors for Autonomous Vehicles
Josiah P. Hanna, Arrasy Rahman, Elliot Fosong +5
Recognising the goals or intentions of observed vehicles is a key step towards predicting the long-term future behaviour of other agents in an autonomous driving scenario. When the…
Learning Time-Invariant Reward Functions through Model-Based Inverse Reinforcement Learning
Todor Davchev, Sarah Bechtle, Subramanian Ramamoorthy +1
Inverse reinforcement learning is a paradigm motivated by the goal of learning general reward functions from demonstrated behaviours. Yet the notion of generality for learnt costs…
ProbRobScene: A Probabilistic Specification Language for 3D Robotic Manipulation Environments
Craig Innes, Subramanian Ramamoorthy
Robotic control tasks are often first run in simulation for the purposes of verification, debugging and data augmentation. Many methods exist to specify what task a robot must comp…
PILOT: Efficient Planning by Imitation Learning and Optimisation for Safe Autonomous Driving
Henry Pulver, Francisco Eiras, Ludovico Carozza +3
Achieving a proper balance between planning quality, safety and efficiency is a major challenge for autonomous driving. Optimisation-based motion planners are capable of producing…