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05/26/2023
Structured Latent Variable Models for Articulated Object Interaction
In this paper, we investigate a scenario in which a robot learns a low-d...
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06/03/2022
Robotic Planning under Uncertainty in Spatiotemporal Environments in Expeditionary Science
In the expeditionary sciences, spatiotemporally varying environments – h...
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02/03/2022
Technical Report: A Hierarchical Deliberative-Reactive System Architecture for Task and Motion Planning in Partially Known Environments
We describe a task and motion planning architecture for highly dynamic s...
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10/28/2021
From Machine Learning to Robotics: Challenges and Opportunities for Embodied Intelligence
Machine learning has long since become a keystone technology, accelerati...
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09/08/2021
Convex Iteration for Distance-Geometric Inverse Kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurat...
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07/01/2021
Active Learning of Abstract Plan Feasibility
Long horizon sequential manipulation tasks are effectively addressed hie...
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05/21/2021
Language Understanding for Field and Service Robots in a Priori Unknown Environments
Contemporary approaches to perception, planning, estimation, and control...
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04/21/2021
Learning and Planning for Temporally Extended Tasks in Unknown Environments
We propose a novel planning technique for satisfying tasks specified in ...
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03/26/2021
Reactive Task and Motion Planning under Temporal Logic Specifications
We present a task-and-motion planning (TAMP) algorithm robust against a ...
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06/06/2020
Visual Prediction of Priors for Articulated Object Interaction
Exploration in novel settings can be challenging without prior experienc...
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06/01/2020
A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty
Accurate rotation estimation is at the heart of robot perception tasks s...
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03/31/2020
Enabling Topological Planning with Monocular Vision
Topological strategies for navigation meaningfully reduce the space of p...
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09/26/2019
Information-Guided Robotic Maximum Seek-and-Sample in Partially Observable Continuous Environments
We present PLUMES, a planner to localizing and collecting samples at the...
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08/28/2019
Search and Rescue under the Forest Canopy using Multiple UAVs
We present a multi-robot system for GPS-denied search and rescue under t...
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11/16/2018
Temporal Grounding Graphs for Language Understanding with Accrued Visual-Linguistic Context
A robot's ability to understand or ground natural language instructions ...
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06/03/2018
Admissible Abstractions for Near-optimal Task and Motion Planning
We define an admissibility condition for abstractions expressed using an...
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11/30/2017
Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models
The gap between our ability to collect interesting data and our ability ...
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11/29/2017
Generalized Grounding Graphs: A Probabilistic Framework for Understanding Grounded Commands
Many task domains require robots to interpret and act upon natural langu...
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11/29/2017
Near-optimal irrevocable sample selection for periodic data streams with applications to marine robotics
We consider the task of monitoring spatiotemporal phenomena in real-time...
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10/11/2017
GeneSIS-RT: Generating Synthetic Images for training Secondary Real-world Tasks
We propose a novel approach for generating high-quality, synthetic data ...
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08/01/2017
PROBE-GK: Predictive Robust Estimation using Generalized Kernels
Many algorithms in computer vision and robotics make strong assumptions ...
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05/12/2014
Structural Return Maximization for Reinforcement Learning
Batch Reinforcement Learning (RL) algorithms attempt to choose a policy ...
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01/18/2014
Modelling Observation Correlations for Active Exploration and Robust Object Detection
Today, mobile robots are expected to carry out increasingly complex task...
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01/16/2014
Efficient Planning under Uncertainty with Macro-actions
Deciding how to act in partially observable environments remains an acti...
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09/26/2013