136 citations · 442 across the 57 of their papers we have counts for
58 papers
Fast LiDAR Informed Visual Search in Unseen Indoor Environments
Ryan Gupta, Kyle Morgenstein, Steven Ortega +1
This paper details a system for fast visual exploration and search without prior map information. We leverage frontier based planning with both LiDAR and visual sensing and augment…
Learning Contact-based Navigation in Crowds
Kyle Morgenstein, Junfeng Jiao, Luis Sentis
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collisi…
Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
Jee-eun Lee, Jaemin Lee, Tirthankar Bandyopadhyay +1
Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamic…
Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
Seung Hyeon Bang, Carlos Gonzalez, Junhyeok Ahn +2
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifa…
Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard +2
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must…
Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
Mingyo Seo, Ryan Gupta, Yifeng Zhu +3
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environm…