4 papers
Dynamic Inference on Graphs using Structured Transition Models
Saumya Saxena, Oliver Kroemer
Enabling robots to perform complex dynamic tasks such as picking up an object in one sweeping motion or pushing off a wall to quickly turn a corner is a challenging problem. The dy…
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…
Learning Active Task-Oriented Exploration Policies for Bridging the Sim-to-Real Gap
Jacky Liang, Saumya Saxena, Oliver Kroemer
Training robotic policies in simulation suffers from the sim-to-real gap, as simulated dynamics can be different from real-world dynamics. Past works tackled this problem through d…
A surgical system for automatic registration, stiffness mapping and dynamic image overlay
Nicolas Zevallos, Rangaprasad Arun Srivatsan, Hadi Salman +6
In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location…