49 citations · 231 across the 28 of their papers we have counts for
10 papers · 1 filter
Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees
M. Asif Rana, Anqi Li, Dieter Fox +3
Generating robot motion that fulfills multiple tasks simultaneously is challenging due to the geometric constraints imposed by the robot. In this paper, we propose to solve multi-t…
Optimization Fabrics for Behavioral Design
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
A common approach to the provably stable design of reactive behavior, exemplified by operational space control, is to reduce the problem to the design of virtual classical mechanic…
Geometric Fabrics for the Acceleration-based Design of Robotic Motion
Mandy Xie, Karl Van Wyk, Anqi Li +5
This paper describes the pragmatic design and construction of geometric fabrics for shaping a robot's task-independent nominal behavior, capturing behavioral components such as obs…
Generalized Nonlinear and Finsler Geometry for Robotics
Nathan D. Ratliff, Karl Van Wyk, Mandy Xie +2
Robotics research has found numerous important applications of Riemannian geometry. Despite that, the concept remain challenging to many roboticists because the background material…
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…