38 citations · 77 across the 14 of their papers we have counts for
15 papers
Hierarchical Intention-Aware Expressive Motion Generation for Humanoid Robots
Lingfan Bao, Yan Pan, Tianhu Peng +2
Effective human-robot interaction requires robots to identify human intentions and generate expressive, socially appropriate motions in real-time. Existing approaches often rely on…
ViT-A*: Legged Robot Path Planning using Vision Transformer A*
Jianwei Liu, Shirui Lyu, Denis Hadjivelichkov +2
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This pape…
Value Functions are Control Barrier Functions: Verification of Safe Policies using Control Theory
Daniel C. H. Tan, Fernando Acero, Robert McCarthy +2
Guaranteeing safe behaviour of reinforcement learning (RL) policies poses significant challenges for safety-critical applications, despite RL's generality and scalability. To addre…
End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies
Dionis Totsila, Konstantinos Chatzilygeroudis, Denis Hadjivelichkov +3
State-of-the-art sensorimotor learning algorithms offer policies that can often produce unstable behaviors, damaging the robot and/or the environment. Traditional robot learning, o…
Local Path Planning among Pushable Objects based on Reinforcement Learning
Linghong Yao, Valerio Modugno, Andromachi Maria Delfaki +3
In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by…
TeLeMan: Teleoperation for Legged Robot Loco-Manipulation using Wearable IMU-based Motion Capture
Chengxu Zhou, Christopher Peers, Yuhui Wan +2
Human life is invaluable. When dangerous or life-threatening tasks need to be completed, robotic platforms could be ideal in replacing human operators. Such a task that we focus on…
One-Shot Transfer of Affordance Regions? AffCorrs!
Denis Hadjivelichkov, Sicelukwanda Zwane, Marc Peter Deisenroth +2
In this work, we tackle one-shot visual search of object parts. Given a single reference image of an object with annotated affordance regions, we segment semantically corresponding…
Robust Contact State Estimation in Humanoid Walking Gaits
Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas +1
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation acco…
Fully Self-Supervised Class Awareness in Dense Object Descriptors
Denis Hadjivelichkov, Dimitrios Kanoulas
We address the problem of inferring self-supervised dense semantic correspondences between objects in multi-object scenes. The method introduces learning of class-aware dense objec…
Improved Reinforcement Learning Coordinated Control of a Mobile Manipulator using Joint Clamping
Denis Hadjivelichkov, Kostas Vlachos, Dimitrios Kanoulas
Many robotic path planning problems are continuous, stochastic, and high-dimensional. The ability of a mobile manipulator to coordinate its base and manipulator in order to control…
Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement
Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential conta…
Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing
Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell +1
Lifting objects, whose mass may produce high wrist torques that exceed the hardware strength limits, could lead to unstable grasps or serious robot damage. This work introduces a n…
Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks
Anh Nguyen, Dimitrios Kanoulas, Luca Muratore +2
We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the inp…
Curved Surface Patches for Rough Terrain Perception
Dimitrios Kanoulas
Attaining animal-like legged locomotion on rough outdoor terrain with sparse foothold affordances -a primary use-case for legs vs other forms of locomotion- is a largely open probl…
Cache Me If You Can: Capacitated Selfish Replication Games in Networks
Ragavendran Gopalakrishnan, Dimitrios Kanoulas, Naga Naresh Karuturi +3
In Peer-to-Peer (P2P) network systems, content (object) delivery between nodes is often required. One way to study such a distributed system is by defining games, which involve sel…