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This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
The Kolmogorov $n$-width of the solution manifolds of transport-dominated problems can decay slowly. As a result, it can be challenging to design efficient and accurate reduced order models (ROMs) for such problems. To address this issue,…
Curve and surface fairing is crucial in computer-aided geometric design, influencing product quality, physical performance, and aesthetics. Traditional methods often apply global modifications, lacking fine-grained control. This paper…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
Dynamic sampling mechanisms in deep learning architectures have demonstrated utility across many computer vision models, though the theoretical analysis of these structures has not yet been unified. In this paper we connect the various…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
Imitation Learning from monocular video demonstrations provides a scalable approach for teaching complex skills to humanoid robots. However, translating human motion to humanoids requires overcoming significant morphological mismatches.…
Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…
We investigate online network topology identification from smooth nodal observations acquired in a streaming fashion. Different from non-adaptive batch solutions, our distinctive goal is to track the (possibly) dynamic adjacency matrix with…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
Shared control combines human intention with autonomous decision-making. At the low level, the primary goal is to maintain safety regardless of the user's input to the system. However, existing shared control methods-based on, e.g., Model…
Computing offsets of curves on parametric surfaces is a fundamental yet challenging operation in computer aided design and manufacturing. Traditional analytical approaches suffer from time-consuming geodesic distance queries and complex…
We are witnessing an increasing availability of streaming data that may contain valuable information on the underlying processes. It is thus attractive to be able to deploy machine learning models on edge devices near sensors such that…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
In-pipe inspection robots must traverse confined pipeline networks with elbows and three-dimensional fittings, requiring both reliable axial traction and rapid rolling reorientation for posture correction. In compact V-shaped platforms,…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
Robotic manipulation systems that follow language instructions often execute grasp primitives in a largely single-shot manner: a model proposes an action, the robot executes it, and failures such as empty grasps, slips, stalls, timeouts, or…