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01/31/2023
Chance-Constrained Trajectory Optimization for High-DOF Robots in Uncertain Environments
Many practical applications of robotics require systems that can operate...
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03/04/2022
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
Multi-robot assembly systems are becoming increasingly appealing in manu...
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06/16/2021
Automatic Curricula via Expert Demonstrations
We propose Automatic Curricula via Expert Demonstrations (ACED), a reinf...
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12/03/2020
Fast-reactive probabilistic motion planning for high-dimensional robots
Many real-world robotic operations that involve high-dimensional humanoi...
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10/15/2020
An Empowerment-based Solution to Robotic Manipulation Tasks with Sparse Rewards
In order to provide adaptive and user-friendly solutions to robotic mani...
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03/17/2020
Provably Safe Trajectory Optimization in the Presence of Uncertain Convex Obstacles
Real-world environments are inherently uncertain, and to operate safely ...
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03/17/2020
Fast Certification of Collision Probability Bounds with Uncertain Convex Obstacles
To operate reactively in uncertain environments, robots need to be able ...
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04/04/2019
Online Risk-Bounded Motion Planning for Autonomous Vehicles in Dynamic Environments
A crucial challenge to efficient and robust motion planning for autonomo...
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11/07/2018
Chance Constrained Motion Planning for High-Dimensional Robots
This paper introduces Probabilistic Chekov (p-Chekov), a chance-constrai...
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11/05/2018
Improving Trajectory Optimization using a Roadmap Framework
We present an evaluation of several representative sampling-based and op...
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10/03/2018
