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Path-planning algorithms are an important part of a wide variety of robotic applications, such as mobile robot navigation and robot arm manipulation. However, in large search spaces in which local traps may exist, it remains challenging to…
A basic task in the design of an industrial robot application is the relative placement of robot and workpiece. Process points are defined in Cartesian coordinates relative to the workpiece coordinate system, and the workpiece has to be…
We study the problem of learning to assign a characteristic pose, i.e., scale and orientation, for an image region of interest. Despite its apparent simplicity, the problem is non-trivial; it is hard to obtain a large-scale set of image…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…
Optimal transport (OT) is a widely used technique in machine learning, graphics, and vision that aligns two distributions or datasets using their relative geometry. In symmetry-rich settings, however, OT alignments based solely on pairwise…
Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts,…
In this paper, we consider the problem of estimating self-tuning histograms using query workloads. To this end, we propose a general learning theoretic formulation. Specifically, we use query feedback from a workload as training data to…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…
Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
We study the problem of robustly learning multi-dimensional histograms. A $d$-dimensional function $h: D \rightarrow \mathbb{R}$ is called a $k$-histogram if there exists a partition of the domain $D \subseteq \mathbb{R}^d$ into $k$…
Unmanned Aerial Vehicles (UAVs) play an increasingly critical role in Intelligence, Surveillance, and Reconnaissance (ISR) missions such as border patrolling and criminal detection, thanks to their ability to access remote areas and…
Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes.…
This paper presents an outdoor tracking system using Real-Time Kinematic (RTK) positioning and Optical See-Through Head Mounted Display(s) (OST-HMD(s)) in urban areas where the accurate tracking of objects is critical and where displaying…
This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured environments. The approach aims to solve the problem of…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
Predicting the trajectories of vehicles is crucial for the development of autonomous driving (AD) systems, particularly in complex and dynamic traffic environments. In this study, we introduce HiT (Human-like Trajectory Prediction), a novel…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…