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09/16/2023
CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning
In this work we present CppFlow - a novel and performant planner for the...
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08/25/2023
MRNAV: Multi-Robot Aware Planning and Control Stack for Collision and Deadlock-free Navigation in Cluttered Environments
Multi-robot collision-free and deadlock-free navigation in cluttered env...
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08/02/2023
LEMMA: Learning Language-Conditioned Multi-Robot Manipulation
Complex manipulation tasks often require robots with complementary capab...
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07/29/2023
DREAM: Decentralized Real-time Asynchronous Probabilistic Trajectory Planning for Collision-free Multi-Robot Navigation in Cluttered Environments
Collision-free navigation in cluttered environments with static and dyna...
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06/15/2023
QuadSwarm: A Modular Multi-Quadrotor Simulator for Deep Reinforcement Learning with Direct Thrust Control
Reinforcement learning (RL) has shown promise in creating robust policie...
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06/02/2023
Granular Gym: High Performance Simulation for Robotic Tasks with Granular Materials
Granular materials are of critical interest to many robotic tasks in pla...
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05/30/2023
Generating Behaviorally Diverse Policies with Latent Diffusion Models
Recent progress in Quality Diversity Reinforcement Learning (QD-RL) has ...
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05/26/2023
IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Reality
Robotic assembly is a longstanding challenge, requiring contact-rich int...
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04/14/2023
Reducing Network Load via Message Utility Estimation for Decentralized Multirobot Teams
We are motivated by quantile estimation of algae concentration in lakes ...
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03/09/2023
Learned Parameter Selection for Robotic Information Gathering
When robots are deployed in the field for environmental monitoring they ...
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03/06/2023
A Study on Multirobot Quantile Estimation in Natural Environments
Quantiles of a natural phenomena can provide scientists with an importan...
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02/24/2023
Probabilistic Trajectory Planning for Static and Interaction-aware Dynamic Obstacle Avoidance
Collision-free mobile robot navigation is an important problem for many ...
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01/30/2023
RREx-BoT: Remote Referring Expressions with a Bag of Tricks
Household robots operate in the same space for years. Such robots increm...
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01/06/2023
Fast and Scalable Signal Inference for Active Robotic Source Seeking
In active source seeking, a robot takes repeated measurements in order t...
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12/10/2022
OpenD: A Benchmark for Language-Driven Door and Drawer Opening
We introduce OPEND, a benchmark for learning how to use a hand to open c...
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11/30/2022
CLIP-Nav: Using CLIP for Zero-Shot Vision-and-Language Navigation
Household environments are visually diverse. Embodied agents performing ...
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09/30/2022
Efficiently Learning Small Policies for Locomotion and Manipulation
Neural control of memory-constrained, agile robots requires small, yet h...
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08/26/2022
CH-MARL: A Multimodal Benchmark for Cooperative, Heterogeneous Multi-Agent Reinforcement Learning
We propose a multimodal (vision-and-language) benchmark for cooperative ...
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08/04/2022
Decentralized Risk-Aware Tracking of Multiple Targets
We consider the setting where a team of robots is tasked with tracking m...
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07/20/2022
Learning Deformable Object Manipulation from Expert Demonstrations
We present a novel Learning from Demonstration (LfD) method, Deformable ...
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06/21/2022
A Simple Approach for Visual Rearrangement: 3D Mapping and Semantic Search
Physically rearranging objects is an important capability for embodied a...
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05/24/2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Multi-robot SLAM systems in GPS-denied environments require loop closure...
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02/27/2022
DialFRED: Dialogue-Enabled Agents for Embodied Instruction Following
Language-guided Embodied AI benchmarks requiring an agent to navigate an...
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02/21/2022
The Role of Heterogeneity in Autonomous Perimeter Defense Problems
When is heterogeneity in the composition of an autonomous robotic team b...
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02/15/2022
Privacy Preserving Visual Question Answering
We introduce a novel privacy-preserving methodology for performing Visua...
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01/25/2022
Adaptive Sampling to Estimate Quantiles for Guiding Physical Sampling
Scientists interested in studying natural phenomena often take physical ...
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11/11/2021
Distilling Motion Planner Augmented Policies into Visual Control Policies for Robot Manipulation
Learning complex manipulation tasks in realistic, obstructed environment...
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11/10/2021
LUMINOUS: Indoor Scene Generation for Embodied AI Challenges
Learning-based methods for training embodied agents typically require a ...
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10/19/2021
A Simple Approach to Continual Learning by Transferring Skill Parameters
In order to be effective general purpose machines in real world environm...
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09/25/2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems
Robustness is key to engineering, automation, and science as a whole. Ho...
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09/23/2021
Adaptive Sampling using POMDPs with Domain-Specific Considerations
We investigate improving Monte Carlo Tree Search based solvers for Parti...
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09/18/2021
Probabilistic Inference of Simulation Parameters via Parallel Differentiable Simulation
To accurately reproduce measurements from the real world, simulators nee...
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05/09/2021
Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams
We consider a scenario where a team of robots with heterogeneous sensors...
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04/24/2021
Adaptive Sampling: Algorithmic vs. Human Waypoint Selection
Robots are used for collecting samples from natural environments to crea...
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11/09/2020
NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Differentiable simulators provide an avenue for closing the sim-to-real ...
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10/22/2020
Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments
Deep reinforcement learning (RL) agents are able to learn contact-rich m...
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09/24/2020
Learning Equality Constraints for Motion Planning on Manifolds
Constrained robot motion planning is a widely used technique to solve co...
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08/04/2020
Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration
We propose a framework for resilience in a networked heterogeneous multi...
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07/12/2020
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
We present a differentiable simulation architecture for articulated rigi...
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06/29/2020
Supervised Learning and Reinforcement Learning of Feedback Models for Reactive Behaviors: Tactile Feedback Testbed
Robots need to be able to adapt to unexpected changes in the environment...
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06/29/2020
Confidence-rich grid mapping
Representing the environment is a fundamental task in enabling robots to...
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06/13/2020
Learning Manifolds for Sequential Motion Planning
Motion planning with constraints is an important part of many real-world...
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06/03/2020
Sampling-Based Motion Planning on Manifold Sequences
We address the problem of planning robot motions in constrained configur...
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04/30/2020
Plan-Space State Embeddings for Improved Reinforcement Learning
Robot control problems are often structured with a policy function that ...
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04/21/2020
Efficient Adaptation for End-to-End Vision-Based Robotic Manipulation
One of the great promises of robot learning systems is that they will be...
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04/15/2020
Resilience in multi-robot multi-target tracking with unknown number of targets through reconfiguration
We address the problem of maintaining resource availability in a network...
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03/24/2020
On Localizing a Camera from a Single Image
Public cameras often have limited metadata describing their attributes. ...
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03/07/2020
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots
Planning smooth and energy-efficient motions for wheeled mobile robots i...
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01/22/2020
Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics
A key ingredient to achieving intelligent behavior is physical understan...
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12/03/2019