93 citations · 407 across the 82 of their papers we have counts for
13 papers · 1 filter
A Survey on the Integration of Machine Learning with Sampling-based Motion Planning
Troy McMahon, Aravind Sivaramakrishnan, Edgar Granados +1
Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is o…
Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees
Ewerton R. Vieira, Aravind Sivaramakrishnan, Yao Song +5
This paper proposes an integration of surrogate modeling and topology to significantly reduce the amount of data required to describe the underlying global dynamics of robot contro…
Effective and Robust Non-Prehensile Manipulation via Persistent Homology Guided Monte-Carlo Tree Search
Ewerton R. Vieira, Kai Gao, Daniel Nakhimovich +2
Performing object retrieval in real-world workspaces must tackle challenges including \emph{uncertainty} and \emph{clutter}. One option is to apply prehensile operations, which can…
6N-DoF Pose Tracking for Tensegrity Robots
Shiyang Lu, William R. Johnson, Kun Wang +4
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight,…
Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Spaces
Yinglong Miao, Rui Wang, Kostas Bekris
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the co…
Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations
Junchi Liang, Bowen Wen, Kostas Bekris +1
This work aims to learn how to perform complex robot manipulation tasks that are composed of several, consecutively executed low-level sub-tasks, given as input a few visual demons…