23 citations · 188 across the 71 of their papers we have counts for
9 papers · 2 filters
DiPA: Probabilistic Multi-Modal Interactive Prediction for Autonomous Driving
Anthony Knittel, Majd Hawasly, Stefano V. Albrecht +2
Accurate prediction is important for operating an autonomous vehicle in interactive scenarios. Prediction must be fast, to support multiple requests from a planner exploring a rang…
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…
Testing Rare Downstream Safety Violations via Upstream Adaptive Sampling of Perception Error Models
Craig Innes, Subramanian Ramamoorthy
Testing black-box perceptual-control systems in simulation faces two difficulties. Firstly, perceptual inputs in simulation lack the fidelity of real-world sensor inputs. Secondly,…
Perspectives on the System-level Design of a Safe Autonomous Driving Stack
Majd Hawasly, Jonathan Sadeghi, Morris Antonello +3
Achieving safe and robust autonomy is the key bottleneck on the path towards broader adoption of autonomous vehicles technology. This motivates going beyond extrinsic metrics such…
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
Yordan Tsvetkov, Subramanian Ramamoorthy
Quadruped robots are usually equipped with additional arms for manipulation, negatively impacting price and weight. On the other hand, the requirements of legged locomotion mean th…
Achieving Dexterous Bidirectional Interaction in Uncertain Conditions for Medical Robotics
Carlo Tiseo, Quentin Rouxel, Martin Asenov +4
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the pa…