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09/09/2023
DeRi-IGP: Manipulating Rigid Objects Using Deformable Objects via Iterative Grasp-Pull
Heterogeneous systems manipulation, i.e., manipulating rigid objects via...
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09/09/2023
AnyPose: Anytime 3D Human Pose Forecasting via Neural Ordinary Differential Equations
Anytime 3D human pose forecasting is crucial to synchronous real-world h...
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09/05/2023
Structural Concept Learning via Graph Attention for Multi-Level Rearrangement Planning
Robotic manipulation tasks, such as object rearrangement, play a crucial...
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07/30/2023
Efficient Q-Learning over Visit Frequency Maps for Multi-agent Exploration of Unknown Environments
The robot exploration task has been widely studied with applications spa...
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06/26/2023
SIMF: Semantics-aware Interactive Motion Forecasting for Autonomous Driving
Autonomous vehicles require motion forecasting of their surrounding mult...
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06/01/2023
Learning Sampling Dictionaries for Efficient and Generalizable Robot Motion Planning with Transformers
Motion planning is integral to robotics applications such as autonomous ...
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06/01/2023
Progressive Learning for Physics-informed Neural Motion Planning
Motion planning (MP) is one of the core robotics problems requiring fast...
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05/26/2023
Multi-Stage Monte Carlo Tree Search for Non-Monotone Object Rearrangement Planning in Narrow Confined Environments
Non-monotone object rearrangement planning in confined spaces such as ca...
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05/22/2023
DeRi-Bot: Learning to Collaboratively Manipulate Rigid Objects via Deformable Objects
Recent research efforts have yielded significant advancements in manipul...
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03/14/2023
Merging Decision Transformers: Weight Averaging for Forming Multi-Task Policies
Recent work has shown the promise of creating generalist, transformer-ba...
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03/02/2023
Co-learning Planning and Control Policies Using Differentiable Formal Task Constraints
This paper presents a hierarchical reinforcement learning algorithm cons...
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11/11/2022
Control Transformer: Robot Navigation in Unknown Environments through PRM-Guided Return-Conditioned Sequence Modeling
Learning long-horizon tasks such as navigation has presented difficult c...
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10/06/2022
CoGrasp: 6-DoF Grasp Generation for Human-Robot Collaboration
Robot grasping is an actively studied area in robotics, mainly focusing ...
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09/30/2022
NTFields: Neural Time Fields for Physics-Informed Robot Motion Planning
Neural Motion Planners (NMPs) have emerged as a promising tool for solvi...
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08/23/2022
Robot Active Neural Sensing and Planning in Unknown Cluttered Environments
Active sensing and planning in unknown, cluttered environments is an ope...
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05/21/2022
Co-design of Embodied Neural Intelligence via Constrained Evolution
We introduce a novel co-design method for autonomous moving agents' shap...
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03/02/2022
Model-free Neural Lyapunov Control for Safe Robot Navigation
Model-free Deep Reinforcement Learning (DRL) controllers have demonstrat...
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06/05/2021
Motion Planning Transformers: One Model to Plan Them All
Transformers have become the powerhouse of natural language processing a...
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06/02/2021
NeRP: Neural Rearrangement Planning for Unknown Objects
Robots will be expected to manipulate a wide variety of objects in compl...
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01/17/2021
MPC-MPNet: Model-Predictive Motion Planning Networks for Fast, Near-Optimal Planning under Kinodynamic Constraints
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to c...
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10/17/2020
Constrained Motion Planning Networks X
Constrained motion planning is a challenging field of research, aiming f...
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08/12/2020
Dynamically Constrained Motion Planning Networks for Non-Holonomic Robots
Reliable real-time planning for robots is essential in today's rapidly e...
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08/09/2020
Neural Manipulation Planning on Constraint Manifolds
The presence of task constraints imposes a significant challenge to moti...
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07/13/2019
Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners
This paper describes Motion Planning Networks (MPNet), a computationally...
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05/25/2019
Composing Ensembles of Policies with Deep Reinforcement Learning
Composition of elementary skills into complex behaviors to solve challen...
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04/25/2019
Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation
Fast and efficient path generation is critical for robots operating in c...
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09/26/2018
Deeply Informed Neural Sampling for Robot Motion Planning
Sampling-based Motion Planners (SMPs) have become increasingly popular a...
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09/17/2018
Adversarial Imitation via Variational Inverse Reinforcement Learning
We consider a problem of learning a reward and policy from expert exampl...
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07/22/2018
Potentially Guided Bidirectionalized RRT* for Fast Optimal Path Planning in Cluttered Environments
Rapidly-exploring Random Tree star (RRT*) has recently gained immense po...
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06/14/2018