32 citations · 76 across the 11 of their papers we have counts for
17 papers
Optimization Fabrics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
This paper presents a theory of optimization fabrics, second-order differential equations that encode nominal behaviors on a space and can be used to define the behavior of a smoot…
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies
Ching-An Cheng, Mustafa Mukadam, Jan Issac +4
Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex nonlinear relationships…
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
Jim Mainprice, Nathan Ratliff, Marc Toussaint +1
Algorithmic solutions for the motion planning problem have been investigated for five decades. Since the development of A* in 1969 many approaches have been investigated, tradition…
Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control
Ian Abraham, Ankur Handa, Nathan Ratliff +3
This work addresses the problem of robot interaction in complex environments where online control and adaptation is necessary. By expanding the sample space in the free energy form…
Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning
Michelle A. Lee, Carlos Florensa, Jonathan Tremblay +4
Traditional robotic approaches rely on an accurate model of the environment, a detailed description of how to perform the task, and a robust perception system to keep track of the…
Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems
Muhammad Asif Rana, Anqi Li, Dieter Fox +3
Robotic tasks often require motions with complex geometric structures. We present an approach to learn such motions from a limited number of human demonstrations by exploiting the…