93 citations · 407 across the 82 of their papers we have counts for
9 papers · 1 filter
That and There: Judging the Intent of Pointing Actions with Robotic Arms
Malihe Alikhani, Baber Khalid, Rahul Shome +3
Collaborative robotics requires effective communication between a robot and a human partner. This work proposes a set of interpretive principles for how a robotic arm can use point…
Asymptotically Optimal Sampling-based Planners
Kostas E. Bekris, Rahul Shome
An asymptotically optimal sampling-based planner employs sampling to solve robot motion planning problems and returns paths with a cost that converges to the optimal solution cost,…
Scene-level Pose Estimation for Multiple Instances of Densely Packed Objects
Chaitanya Mitash, Bowen Wen, Kostas Bekris +1
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in un…
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space
Michal Kleinbort, Edgar Granados, Kiril Solovey +3
We present a novel analysis of AO-RRT: a tree-based planner for motion planning with kinodynamic constraints, originally described by Hauser and Zhou (AO-X, 2016). AO-RRT explores…
Towards Learning Efficient Maneuver Sets for Kinodynamic Motion Planning
Aravind Sivaramakrishnan, Zakary Littlefield, Kostas E. Bekris
Planning for systems with dynamics is challenging as often there is no local planner available and the only primitive to explore the state space is forward propagation of controls.…
Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs
Rahul Shome, Kostas E. Bekris
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipula…