386 citations · 420 across the 16 of their papers we have counts for
4 papers · 1 filter
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…