| 2024-10-03 |
Multi-Query Shortest-Path Problem in Graphs of Convex Sets |
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| 2024-09-17 |
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets |
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| 2024-08-23 |
Faster Algorithms for Growing Collision-Free
Convex Polytopes in Robot Configuration Space |
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| 2024-08-23 |
GCS*: Forward Heuristic Search on Implicit Graphs of Convex Sets |
cs.RO ‧ Shao Yuan Chew Chia, Rebecca H. Jiang, Bernhard Paus Graesdal, Leslie Pack Kaelbling, Russ Tedrake |
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| 2024-07-04 |
Diffusion Forcing: Next-token Prediction Meets Full-Sequence Diffusion |
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| 2024-05-16 |
Graphs of Convex Sets with Applications to Optimal Control and Motion Planning |
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| 2023-07-16 |
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching |
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| 2023-05-16 |
Non-Euclidean Motion Planning with Graphs of Geodesically-Convex Sets |
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| 2023-05-16 |
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion |
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| 2022-10-21 |
Does Self-Supervised Learning Excel at Handling Decentralized and Non-IID Unlabeled Data? |
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| 2022-07-18 |
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models |
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| 2022-05-08 |
Motion Planning around Obstacles with Convex Optimization |
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| 2022-05-08 |
Finding and Optimizing Certified, Collision-Free Regions in Configuration Space for Robot Manipulators |
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| 2022-02-28 |
Globally Convergent Policy Search over Dynamic Filters for Output Estimation |
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| 2022-02-11 |
Do Differentiable Simulators Give Better Policy Gradients? |
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| 2021-11-21 |
Learning Models as Functionals of Signed-Distance Fields for Manipulation Planning |
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| 2021-11-16 |
Discrete Approximate Information States in Partially Observable Environments |
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| 2021-11-06 |
Scene Understanding and Distribution Modeling with
Mixed-Integer Scene Parsing |
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| 2021-11-04 |
Easing Reliance on Collision-free Planning with Contact-aware Control |
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| 2021-11-04 |
{SEED}: Series Elastic End Effectors in 6D for Visuotactile Tool Use |
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| 2021-11-04 |
Bundled Gradients through Contact via Randomized Smoothing |
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| 2021-06-27 |
Lyapunov-stable neural-network control |
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| 2021-01-27 |
Shortest Paths in Graphs of Convex Sets |
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| 2020-12-06 |
A Convex Quasistatic Time-stepping Scheme for Rigid Multibody Systems with Contact and Friction |
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| 2020-12-06 |
Identifying External Contacts from Joint Torque Measurements on Serial Robotic Arms and Its Limitations |
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| 2020-12-05 |
Neural Bridge Sampling for Evaluating Safety-Critical Autonomous Systems |
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| 2020-12-05 |
Sampling Quotient-Ring Sum-of-Squares Programs for
Scalable Verification of Nonlinear Systems |
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| 2020-12-05 |
The Surprising Effectiveness of Linear Models for Visual Foresight in Object Pile Manipulation |
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| 2020-12-05 |
Robust Output Feedback Control with Guaranteed Constraint Satisfaction |
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| 2020-12-05 |
Warm Start of Mixed-Integer Programs for Model Predictive Control of Hybrid Systems |
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| 2020-12-05 |
The Nearest Polytope Problem: Algorithms and Application to Controlling Hybrid Systems |
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| 2020-12-05 |
Self-Supervised Correspondence in Visuomotor Policy Learning |
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| 2020-12-05 |
Generative Modeling of Environments with Scene Grammars and Variational Inference |
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| 2020-12-05 |
R3T: Rapidly-exploring Random Reachable Set Tree for Optimal Kinodynamic Planning of Nonlinear Hybrid Systems |
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| 2020-12-05 |
k{PAM-SC}: Generalizable {M}anipulation Planning using {K}ey{P}oint {A}ffordance and {S}hape {C}ompletion |
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| 2020-12-05 |
{kPAM: KeyPoint Affordances for Category-Level Robotic Manipulation} |
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| 2020-12-05 |
Linear Encodings for Polytope Containment Problems |
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| 2020-12-05 |
Mixed-Integer Formulations for Optimal Control of Piecewise-Affine Systems |
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| 2020-12-05 |
Learning Particle Dynamics for Manipulating Rigid Bodies, Deformable Objects, and Fluids |
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| 2020-12-05 |
{LVIS}: Learning from Value Function Intervals for Contact-Aware Robot Controllers |
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| 2020-12-05 |
Sampling-based Polytopic Trees for Approximate Optimal Control of Piecewise Affine Systems |
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| 2020-12-05 |
Propagation Networks for Model-Based Control Under Partial Observation |
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| 2020-12-05 |
A Supervised Approach to Predicting Noise in Depth Images |
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| 2020-12-05 |
Controller Synthesis for Discrete-time Hybrid Polynomial Systems via Occupation Measures |
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| 2020-12-05 |
Dense Object Nets: Learning Dense Visual Object Descriptors By and For Robotic Manipulation |
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| 2020-12-05 |
Evaluating Robustness of Neural Networks with Mixed Integer Programming |
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| 2020-12-05 |
Compositional Verification of Large-Scale Nonlinear Systems via Sums-of-Squares Optimization |
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| 2020-12-05 |
NanoMap: Fast, Uncertainty-Aware Proximity Queries with Lazy Search over Local 3D Data |
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| 2020-12-05 |
A Pipeline for Generating Ground Truth Labels for
Real {RGBD} Data of Cluttered Scenes |
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| 2020-12-05 |
Approximate Hybrid Model Predictive Control
for Multi-Contact Push Recovery in Complex Environments |
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| 2020-12-05 |
Feedback Design for Multi-contact Push Recovery via {LMI}
Approximation of the Piecewise-Affine Quadratic Regulator |
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| 2020-12-05 |
Globally Optimal Object Pose Estimation in Point Clouds with Mixed-Integer Programming |
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| 2020-12-05 |
Global inverse kinematics via mixed-integer convex optimization |
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| 2020-12-05 |
Tracking Objects with Point Clouds from Vision and Touch |
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| 2020-12-05 |
Planning robust walking motion on uneven terrain via convex optimization |
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| 2020-12-05 |
Balance control using center of mass height variation: limitations imposed by unilateral contact |
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| 2020-12-05 |
Integrated Perception and Control at High Speed: Evaluating Collision Avoidance Maneuvers Without Maps |
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| 2020-12-05 |
Localizing External Contact Using Proprioceptive Sensors: The Contact Particle Filter |
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| 2020-12-05 |
Funnel Libraries for Real-time Robust Feedback Motion Planning |
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| 2020-12-05 |
Director: A User Interface Designed for Robot Operation With Shared Autonomy |
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| 2020-12-05 |
Feedback-Motion-Planning with
Simulation-Based LQR-Trees |
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| 2020-12-05 |
High-Speed Autonomous Obstacle Avoidance with Pushbroom Stereo |
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| 2020-12-05 |
Optimization and stabilization of trajectories for constrained dynamical systems |
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| 2020-12-05 |
Aggressive Quadrotor Flight through Cluttered Environments Using Mixed Integer Programming |
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| 2020-12-05 |
A closed-form solution for real-time {ZMP} gait generation and feedback stabilization |
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| 2020-12-05 |
Planning and Control for Quadrotor Flight through
Cluttered Environments |
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| 2020-12-05 |
Synthesis and optimization of force closure grasps via sequential semidefinite programming |
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| 2020-12-05 |
Optimization-based Locomotion Planning, Estimation, and Control Design for the {A}tlas Humanoid Robot |
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| 2020-12-05 |
Whole-body Motion Planning with Centroidal Dynamics and Full Kinematics |
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| 2020-12-05 |
Efficient Mixed-Integer Planning for {UAVs} in Cluttered Environments |
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| 2020-12-05 |
Pushbroom Stereo for High-Speed Navigation in Cluttered Environments |
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| 2020-12-05 |
Stability analysis and control of rigid-body
systems with impacts and friction |
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| 2020-12-05 |
Control and Verification of High-Dimensional Systems with {DSOS} and {SDSOS} Programming |
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| 2020-12-05 |
An Architecture for Online Affordance-based Perception and Whole-body Planning |
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| 2020-12-05 |
Footstep Planning on Uneven Terrain with Mixed-Integer Convex Optimization |
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| 2020-12-05 |
Drift-Free Humanoid State Estimation
fusing Kinematic, Inertial and LIDAR sensing |
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| 2020-12-05 |
Computing Large Convex Regions of Obstacle-Free Space through Semidefinite Programming |
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| 2020-12-05 |
Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures |
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| 2020-12-05 |
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion |
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| 2020-12-05 |
A Summary of Team {MIT}'s Approach to the Virtual Robotics Challenge |
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| 2020-12-05 |
Flying Between Obstacles with an Autonomous Knife-Edge Maneuver |
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