356 citations · 1k across the 80 of their papers we have counts for
16 papers · 1 filter
MoGaze: A Dataset of Full-Body Motions that Includes Workspace Geometry and Eye-Gaze
Philipp Kratzer, Simon Bihlmaier, Niteesh Balachandra Midlagajni +3
As robots become more present in open human environments, it will become crucial for robotic systems to understand and predict human motion. Such capabilities depend heavily on the…
Learning Efficient Constraint Graph Sampling for Robotic Sequential Manipulation
Joaquim Ortiz-Haro, Valentin N. Hartmann, Ozgur S. Oguz +1
Efficient sampling from constraint manifolds, and thereby generating a diverse set of solutions for feasibility problems, is a fundamental challenge. We consider the case where a p…
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
Marie-Therese Khoury, Andreas Orthey, Marc Toussaint
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one…
Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning
Andreas Orthey, Marc Toussaint
Sparse roadmaps are important to compactly represent state spaces, to determine problems to be infeasible and to terminate in finite time. However, sparse roadmaps do not scale wel…
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning
Andreas Orthey, Marc Toussaint
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly smal…
Natural Gradient Shared Control
Yoojin Oh, Shao-Wen Wu, Marc Toussaint +1
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy sys…