相关论文: On-line force capability evaluation based on effic…
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One…
We propose a representation for the set of forces a robot can counteract using full system dynamics: the residual force polytope. Given the nominal torques required by a dynamic motion, this representation models the forces which can be…
A new training algorithm is presented for delayed reinforcement learning problems that does not assume the existence of a critic model and employs the polytope optimization algorithm to adjust the weights of the action network so that a…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
Mobile robotic manipulation--the ability of robots to navigate spaces and interact with objects--is a core capability of physical AI. Foundation models have led to breakthroughs in their performance, but at a significant computational cost.…
We study online capacitated resource allocation, a natural generalization of online stochastic max-weight bipartite matching. This problem is motivated by ride-sharing and Internet advertising applications, where online arrivals may have…
Online reinforcement learning (RL) methods are often data-inefficient or unreliable, making them difficult to train on real robotic hardware, especially quadruped robots. Learning robotic tasks from pre-collected data is a promising…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Quite generally, constraint-based metabolic flux analysis describes the space of viable flux configurations for a metabolic network as a high-dimensional polytope defined by the linear constraints that enforce the balancing of production…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Learning policies from previously recorded data is a promising direction for real-world robotics tasks, as online learning is often infeasible. Dexterous manipulation in particular remains an open problem in its general form. The…
Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots,…
Manipulability analysis is a methodology employed to assess the capacity of an articulated system, at a specific configuration, to produce motion or exert force in diverse directions. The conventional method entails generating a virtual…
In this paper, we provide two new stable online algorithms for the problem of prediction in reinforcement learning, \emph{i.e.}, estimating the value function of a model-free Markov reward process using the linear function approximation…
Models with fewer parameters are necessary for the neural control of memory-limited, performant robots. Finding these smaller neural network architectures can be time-consuming. We propose HyperPPO, an on-policy reinforcement learning…
As compute power increases with time, more involved and larger simulations become possible. However, it gets increasingly difficult to efficiently use the provided computational resources. Especially in particle-based simulations with a…
We present an online centralized path planning algorithm to cover a large, complex, unknown workspace with multiple homogeneous mobile robots. Our algorithm is horizon-based, synchronous, and on-demand. The recently proposed horizon-based…
Consider the following online version of the submodular maximization problem under a matroid constraint: We are given a set of elements over which a matroid is defined. The goal is to incrementally choose a subset that remains independent…
An efficient algorithm to enumerate the vertices of a two-dimensional (2D) projection of a polytope, is presented in this paper. The proposed algorithm uses the support function of the polytope to be projected and enumerated for vertices.…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…