Related papers: SCOPE: Smooth Convex Optimization for Planned Evol…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…

Solving partial differential equations (PDEs) has been a fundamental problem in computational science and of wide applications for both scientific and engineering research. Due to its universal approximation property, neural network is…

Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…

Deformable object manipulation tasks have long been regarded as challenging robotic problems. However, until recently very little work has been done on the subject, with most robotic manipulation methods being developed for rigid objects.…

Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…

Evolutionary methods have previously been shown to be an effective learning method for walking gaits on hexapod robots. However, the ability of these algorithms to evolve an effective policy rapidly degrades as the input space becomes more…

This paper proposes an open-source distributed solver for solving Sparse Convex Optimization (SCO) problems over computational networks. Motivated by past algorithmic advances in mixed-integer optimization, the Sparse Convex Optimization…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…

We propose an adaptive accelerated gradient method for solving smooth convex optimization problems. The method incorporates a scheme to determine the step size adaptively, by means of a local estimation of the smoothness constant, which is…

In this work, we introduce SPADE, a path planning framework designed for autonomous navigation in dynamic environments using 3D scene graphs. SPADE combines hierarchical path planning with local geometric awareness to enable collision-free…

In this paper, we introduce Dynamic Layer Operations (DLO), a novel approach for vertically scaling transformer-based Large Language Models (LLMs) by dynamically expanding, activating, or skipping layers using a sophisticated routing policy…

In this paper, we consider smooth convex optimization problems with simple constraints and inexactness in the oracle information such as value, partial or directional derivatives of the objective function. We introduce a unifying framework,…

In this paper, we propose a successive pseudo-convex approximation algorithm to efficiently compute stationary points for a large class of possibly nonconvex optimization problems. The stationary points are obtained by solving a sequence of…

Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…

Joint space trajectory optimization under end-effector task constraints leads to a challenging non-convex problem. Thus, a real-time adaptation of prior computed trajectories to perturbation in task constraints often becomes intractable.…

This paper investigates continuous-time motion planning under Signal Temporal Logic (STL) specifications. The goal is to generate smooth robot trajectories that satisfy high-level logical and timing requirements while respecting low-level…

Real-time state tracking of Deformable Linear Objects (DLOs) is critical for enabling robotic manipulation of DLOs in industrial assembly, medical procedures, and daily-life applications. However, the high-dimensional configuration space,…

Edge computing enables data processing closer to the source, significantly reducing latency, an essential requirement for real-time vision-based analytics such as object detection in surveillance and smart city environments. However, these…