93 citations · 407 across the 82 of their papers we have counts for
7 papers · 2 filters
Socially Cognizant Robotics for a Technology Enhanced Society
Kristin J. Dana, Clinton Andrews, Kostas Bekris +6
Emerging applications of robotics, and concerns about their impact, require the research community to put human-centric objectives front-and-center. To meet this challenge, we advo…
Pick Planning Strategies for Large-Scale Package Manipulation
Shuai Li, Azarakhsh Keipour, Kevin Jamieson +4
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resi…
: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space
Ewerton R. Vieira, Aravind Sivaramakrishnan, Sumanth Tangirala +3
Estimating the region of attraction () for a robot controller is essential for safe application and controller composition. Many existing methods require a closed-form e…
Roadmaps with Gaps over Controllers: Achieving Efficiency in Planning under Dynamics
Aravind Sivaramakrishnan, Sumanth Tangirala, Edgar Granados +2
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-spe…
Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs
Haonan Chang, Kowndinya Boyalakuntla, Shiyang Lu +8
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-base…
Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success
Shuai Li, Azarakhsh Keipour, Kevin Jamieson +3
Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing the speed of delivery, and enhancing the resi…
Resolution Complete In-Place Object Retrieval given Known Object Models
Daniel Nakhimovich, Yinglong Miao, Kostas E. Bekris
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use…