96 citations · 267 across the 31 of their papers we have counts for
7 papers · 1 filter
Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation
Jacky Liang, Mohit Sharma, Alex LaGrassa +3
Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the s…
Mission-level Robustness with Rapidly-deployed, Autonomous Aerial Vehicles by Carnegie Mellon Team Tartan at MBZIRC 2020
Anish Bhattacharya, Akshit Gandhi, Lukas Merkle +7
For robotic systems to succeed in high risk, real-world situations, they have to be quickly deployable and robust to environmental changes, under-performing hardware, and mission s…
Adaptive Sampling: Algorithmic vs. Human Waypoint Selection
Stephanie Kemna, Sara Kangaslahti, Oliver Kroemer +1
Robots are used for collecting samples from natural environments to create models of, for example, temperature or algae fields in the ocean. Adaptive informative sampling is a prov…
Learning Reactive and Predictive Differentiable Controllers for Switching Linear Dynamical Models
Saumya Saxena, Alex LaGrassa, Oliver Kroemer
Humans leverage the dynamics of the environment and their own bodies to accomplish challenging tasks such as grasping an object while walking past it or pushing off a wall to turn…
Generalizing Object-Centric Task-Axes Controllers using Keypoints
Mohit Sharma, Oliver Kroemer
To perform manipulation tasks in the real world, robots need to operate on objects with various shapes, sizes and without access to geometric models. It is often unfeasible to trai…
Causal Reasoning in Simulation for Structure and Transfer Learning of Robot Manipulation Policies
Tabitha Edith Lee, Jialiang Zhao, Amrita S. Sawhney +2
We present CREST, an approach for causal reasoning in simulation to learn the relevant state space for a robot manipulation policy. Our approach conducts interventions using intern…
Playing with Food: Learning Food Item Representations through Interactive Exploration
Amrita Sawhney, Steven Lee, Kevin Zhang +2
A key challenge in robotic food manipulation is modeling the material properties of diverse and deformable food items. We propose using a multimodal sensory approach to interact an…