386 citations · 420 across the 16 of their papers we have counts for
18 papers
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Mengchao Zhang, Devesh K. Jha, Arvind U. Raghunathan +1
Complex dexterous manipulations require switching between prehensile and non-prehensile grasps, and sliding and pivoting the object against the environment. This paper presents a m…
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift
Yifan Zhu, Pranay Thangeda, Melkior Ornik +1
Autonomous lander missions on extraterrestrial bodies will need to sample granular material while coping with domain shift, no matter how well a sampling strategy is tuned on Earth…
Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach
Ninghan Zhong, Kris Hauser
Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic re…
On-Device CPU Scheduling for Sense-React Systems
Aditi Partap, Samuel Grayson, Muhammad Huzaifa +5
Sense-react systems (e.g. robotics and AR/VR) have to take highly responsive real-time actions, driven by complex decisions involving a pipeline of sensing, perception, planning, a…
Automated Heart and Lung Auscultation in Robotic Physical Examinations
Yifan Zhu, Alexander Smith, Kris Hauser
This paper presents the first implementation of autonomous robotic auscultation of heart and lung sounds. To select auscultation locations that generate high-quality sounds, a Baye…
Optimized Coverage Planning for UV Surface Disinfection
Joao Marcos Correia Marques, Ramya Ramalingam, Zherong Pan +1
UV radiation has been used as a disinfection strategy to deactivate a wide range of pathogens, but existing irradiation strategies do not ensure sufficient exposure of all environm…
Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
Zherong Pan, Kris Hauser
We present non-convex maximal dissipation principle (NMDP), a time integration scheme for articulated bodies with simultaneous contacts. Our scheme resolves contact forces via the…
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
Zherong Pan, Kris Hauser
We present a planner for large-scale (un)labeled object sorting tasks, which uses two types of manipulation actions: overhead grasping and planar pushing. The grasping action offer…
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
Yuan Tian, Mark Draelos, Gao Tang +4
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-mi…
Stable bin packing of non-convex 3D objects with a robot manipulator
Fan Wang, Kris Hauser
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing proble…
Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
Weidong Sun, Gao Tang, Kris Hauser
We present an efficient optimization framework that solves trajectory optimization problems by decoupling state variables from timing variables, thereby decomposing a challenging n…
Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization
Shihao Wang, Kris Hauser
This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The p…
Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts
Gao Tang, Kris Hauser
This paper proposes a discontinuity-sensitive approach to learn the solutions of parametric optimal control problems with high accuracy. Many tasks, ranging from model predictive c…
Learning the Problem-Optimum Map: Analysis and Application to Global Optimization in Robotics
Kris Hauser
This paper describes a data-driven framework for approximate global optimization in which precomputed solutions to a sample of problems are retrieved and adapted during online use…
Analysis and Observations from the First Amazon Picking Challenge
Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson +7
This paper presents a overview of the inaugural Amazon Picking Challenge along with a summary of a survey conducted among the 26 participating teams. The challenge goal was to desi…
Asymptotically Optimal Planning by Feasible Kinodynamic Planning in State-Cost Space
Kris Hauser, Yilun Zhou
This paper presents an equivalence between feasible kinodynamic planning and optimal kinodynamic planning, in that any optimal planning problem can be transformed into a series of…
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013)
Aitor Aladren, Sasa Bodiroza, Hamidreza Chitsaz +12
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013)
Artificial Intelligence Framework for Simulating Clinical Decision-Making: A Markov Decision Process Approach
Casey C. Bennett, Kris Hauser
In the modern healthcare system, rapidly expanding costs/complexity, the growing myriad of treatment options, and exploding information streams that often do not effectively reach…