49 citations · 231 across the 28 of their papers we have counts for
7 papers · 1 filter
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Ankur Handa, Karl Van Wyk, Wei Yang +6
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation so…
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Mustafa Mukadam, Ching-An Cheng, Dieter Fox +2
RMPflow is a recently proposed policy-fusion framework based on differential geometry. While RMPflow has demonstrated promising performance, it requires the user to provide sensibl…
Collaborative Behavior Models for Optimized Human-Robot Teamwork
Adam Fishman, Chris Paxton, Wei Yang +3
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are w…
Scaling Local Control to Large-Scale Topological Navigation
Xiangyun Meng, Nathan Ratliff, Yu Xiang +1
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and re…
Representing Robot Task Plans as Robust Logical-Dynamical Systems
Chris Paxton, Nathan Ratliff, Clemens Eppner +1
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult…
Neural Autonomous Navigation with Riemannian Motion Policy
Xiangyun Meng, Nathan Ratliff, Yu Xiang +1
End-to-end learning for autonomous navigation has received substantial attention recently as a promising method for reducing modeling error. However, its data complexity, especiall…
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam +3
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during…