129 citations · 889 across the 54 of their papers we have counts for
18 papers · 1 filter
Dynamical System Segmentation for Information Measures in Motion
Thomas A. Berrueta, Ana Pervan, Kathleen Fitzsimons +1
Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamen…
Generalized Proximal Methods for Pose Graph Optimization
Taosha Fan, Todd Murphey
In this paper, we generalize proximal methods that were originally designed for convex optimization on normed vector space to non-convex pose graph optimization (PGO) on special Eu…
Learning from Human Directional Corrections
Wanxin Jin, Todd D. Murphey, Zehui Lu +1
This paper proposes a novel approach that enables a robot to learn an objective function incrementally from human directional corrections. Existing methods learn from human magnitu…
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion
Maurice Rahme, Ian Abraham, Matthew L. Elwin +1
We present a sim-to-real framework that uses dynamics and domain randomized offline reinforcement learning to enhance open-loop gaits for legged robots, allowing them to traverse u…
Learning from Sparse Demonstrations
Wanxin Jin, Todd D. Murphey, Dana Kulić +2
This paper develops the method of Continuous Pontryagin Differentiable Programming (Continuous PDP), which enables a robot to learn an objective function from a few sparsely demons…
Information Requirements of Collision-Based Micromanipulation
Alexandra Q. Nilles, Ana Pervan, Thomas A. Berrueta +2
We present a task-centered formal analysis of the relative power of several robot designs, inspired by the unique properties and constraints of micro-scale robotic systems. Our tas…