b'Devesh K Jha'

research

∙ 06/10/2023

Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning

Complex dexterous manipulations require switching between prehensile and...

0 Mengchao Zhang, et al. ∙

research

∙ 05/18/2023

A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators

We address the problem of teleoperating an industrial robot manipulator ...

0 Eric Rosen, et al. ∙

research

∙ 03/23/2023

Covariance Steering for Uncertain Contact-rich Systems

Planning and control for uncertain contact systems is challenging as it ...

0 Yuki Shirai, et al. ∙

research

∙ 03/15/2023

Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization

Generalizable manipulation requires that robots be able to interact with...

0 Yuki Shirai, et al. ∙

research

∙ 03/10/2023

Tactile-Filter: Interactive Tactile Perception for Part Mating

Humans rely on touch and tactile sensing for a lot of dexterous manipula...

0 Kei Ota, et al. ∙

research

∙ 03/06/2023

Simultaneous Tactile Estimation and Control of Extrinsic Contact

We propose a method that simultaneously estimates and controls extrinsic...

0 Sangwoon Kim, et al. ∙

research

∙ 01/17/2023

Tactile Tool Manipulation

Humans can effortlessly perform very complex, dexterous manipulation tas...

0 Yuki Shirai, et al. ∙

research

∙ 12/02/2022

Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control

Robots have been steadily increasing their presence in our daily lives, ...

0 Devesh K Jha, et al. ∙

research

∙ 10/23/2022

Active Exploration for Robotic Manipulation

Robotic manipulation stands as a largely unsolved problem despite signif...

0 Tim Schneider, et al. ∙

research

∙ 09/28/2022

Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills

Dynamic movement primitives are widely used for learning skills which ca...

0 Seiji Shaw, et al. ∙

research

∙ 04/22/2022

Design of Adaptive Compliance Controllers for Safe Robotic Assembly

Insertion operations are a critical element of most robotic assembly ope...

0 Devesh K Jha, et al. ∙

research

∙ 03/22/2022

Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization

Generalizable manipulation requires that robots be able to interact with...

0 Yuki Shirai, et al. ∙

research

∙ 03/18/2022

PYROBOCOP: Python-based Robotic Control Optimization Package for Manipulation

PYROBOCOP is a Python-based package for control, optimization and estima...

0 Arvind Raghunathan, et al. ∙

research

∙ 03/05/2022

Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation

This paper presents a chance-constrained formulation for robust trajecto...

0 Yuki Shirai, et al. ∙

research

∙ 11/20/2021

Imitation and Supervised Learning of Compliance for Robotic Assembly

We present the design of a learning-based compliance controller for asse...

0 Devesh K Jha, et al. ∙

research

∙ 06/06/2021

PYROBOCOP : Python-based Robotic Control Optimization Package for Manipulation and Collision Avoidance

PYROBOCOP is a lightweight Python-based package for control and optimiza...

212 Arvind U. Raghunathan, et al. ∙

research

∙ 06/06/2021

Distributed Task Allocation in Homogeneous Swarms Using Language Measure Theory

In this paper, we present algorithms for synthesizing controllers to dis...

0 Devesh K Jha, et al. ∙

research

∙ 06/02/2021

Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units

This paper presents a novel trajectory optimization formulation to solve...

0 Shiyu Jin, et al. ∙

research

∙ 04/02/2021

Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry

Object insertion is a classic contact-rich manipulation task. The task r...

0 Siyuan Dong, et al. ∙

research

∙ 03/20/2021

Markov Modeling of Time-Series Data using Symbolic Analysis

Markov models are often used to capture the temporal patterns of sequent...

10 Devesh K Jha, et al. ∙

research

∙ 02/16/2021

Training Larger Networks for Deep Reinforcement Learning

The success of deep learning in the computer vision and natural language...

127 Kei Ota, et al. ∙

research

∙ 11/14/2020

Towards Human-Level Learning of Complex Physical Puzzles

Humans quickly solve tasks in novel systems with complex dynamics, witho...

13 Kei Ota, et al. ∙

research

∙ 10/31/2020

Deep Reactive Planning in Dynamic Environments

The main novelty of the proposed approach is that it allows a robot to l...

1 Kei Ota, et al. ∙

research

∙ 07/22/2020

Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks

One of the main challenges in peg-in-a-hole (PiH) insertion tasks is in ...

0 Yifang Liu, et al. ∙

research

∙ 03/26/2020

CAZSL: Zero-Shot Regression for Pushing Models by Generalizing Through Context

Learning accurate models of the physical world is required for a lot of ...

0 Wenyu Zhang, et al. ∙

research

∙ 03/03/2020

Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path

In this paper, we consider the problem of building learning agents that ...

1 Kei Ota, et al. ∙

research

∙ 03/03/2020

Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?

Deep reinforcement learning (RL) algorithms have recently achieved remar...

1 Kei Ota, et al. ∙

research

∙ 02/25/2020

Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements

In this paper, we propose a derivative-free model learning framework for...

0 Alberto Dalla Libera, et al. ∙

research

∙ 01/27/2020

Multi-label Prediction in Time Series Data using Deep Neural Networks

This paper addresses a multi-label predictive fault classification probl...

0 Wenyu Zhang, et al. ∙

research

∙ 01/22/2020

Local Policy Optimization for Trajectory-Centric Reinforcement Learning

The goal of this paper is to present a method for simultaneous trajector...

14 Patrik Kolaric, et al. ∙

research

∙ 07/03/2019

Safe Approximate Dynamic Programming Via Kernelized Lipschitz Estimation

We develop a method for obtaining safe initial policies for reinforcemen...

0 Ankush Chakrabarty, et al. ∙

research

∙ 05/15/2019

Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function

Computing Nash equilibrium (NE) of multi-player games has witnessed rene...

0 Arvind U. Raghunathan, et al. ∙

research

∙ 03/13/2019

Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning

In this paper, we propose a reinforcement learning-based algorithm for t...

1 Kei Ota, et al. ∙

research

∙ 09/26/2017

Symbolic Analysis-based Reduced Order Markov Modeling of Time Series Data

This paper presents a technique for reduced-order Markov modeling for co...

0 Devesh K Jha, et al. ∙

Devesh K Jha

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