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06/10/2023
Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning
Complex dexterous manipulations require switching between prehensile and...
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03/06/2023
Few-shot Adaptation for Manipulating Granular Materials Under Domain Shift
Autonomous lander missions on extraterrestrial bodies will need to sampl...
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12/16/2022
Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach
Haptic feedback can improve safety of teleoperated robots when situation...
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07/27/2022
On-Device CPU Scheduling for Sense-React Systems
Sense-react systems (e.g. robotics and AR/VR) have to take highly respon...
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01/24/2022
Automated Heart and Lung Auscultation in Robotic Physical Examinations
This paper presents the first implementation of autonomous robotic auscu...
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03/25/2021
Optimized Coverage Planning for UV Surface Disinfection
UV radiation has been used as a disinfection strategy to deactivate a wi...
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10/28/2020
Implicit Integration for Articulated Bodies with Contact via the Nonconvex Maximal Dissipation Principle
We present non-convex maximal dissipation principle (NMDP), a time integ...
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10/20/2020
Decision Making in Joint Push-Grasp Action Space for Large-Scale Object Sorting
We present a planner for large-scale (un)labeled object sorting tasks, w...
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02/03/2020
Toward Autonomous Robotic Micro-Suturing using Optical Coherence Tomography Calibration and Path Planning
Robotic automation has the potential to assist human surgeons in perform...
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12/10/2018
Stable bin packing of non-convex 3D objects with a robot manipulator
Recent progress in the field of robotic manipulation has generated inter...
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11/27/2018
Fast UAV Trajectory Optimization using Bilevel Optimization with Analytical Gradients
This paper presents an efficient optimization framework that solves traj...
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07/23/2018
Unified Multi-Contact Fall Mitigation Planning for Humanoids via Contact Transition Tree Optimization
This paper presents a multi-contact approach to generalized humanoid fal...
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03/07/2018
Discontinuity-Sensitive Optimal Control Learning by Mixture of Experts
This paper proposes a discontinuity-sensitive approach to learn the solu...
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01/10/2013