1.5k citations · 2k across the 42 of their papers we have counts for
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Probabilistic Tracking with Deep Factors
Fan Jiang, Andrew Marmon, Ildebrando De Courten +2
In many applications of computer vision it is important to accurately estimate the trajectory of an object over time by fusing data from a number of sources, of which 2D and 3D ima…
Learning Inertial Odometry for Dynamic Legged Robot State Estimation
Russell Buchanan, Marco Camurri, Frank Dellaert +1
This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has…
Extended Version of GTGraffiti: Spray Painting Graffiti Art from Human Painting Motions with a Cable Driven Parallel Robot
Gerry Chen, Sereym Baek, Juan-Diego Florez +4
We present GTGraffiti, a graffiti painting system from Georgia Tech that tackles challenges in art, hardware, and human-robot collaboration. The problem of painting graffiti in a h…
Imitation Learning via Simultaneous Optimization of Policies and Auxiliary Trajectories
Mandy Xie, Anqi Li, Karl Van Wyk +3
Imitation learning (IL) is a frequently used approach for data-efficient policy learning. Many IL methods, such as Dataset Aggregation (DAgger), combat challenges like distribution…
Optimal Control for Structurally Sparse Systems using Graphical Inference
Roshan Pradhan, Shuo Yang, Frank Dellaert +2
Dynamical systems with a distributed yet interconnected structure, like multi-rigid-body robots or large-scale multi-agent systems, introduce valuable sparsity into the system dyna…
Continuous-time State & Dynamics Estimation using a Pseudo-Spectral Parameterization
Varun Agrawal, Frank Dellaert
We present a novel continuous time trajectory representation based on a Chebyshev polynomial basis, which when governed by known dynamics models, allows for full trajectory and rob…