174 entries « 1 of 4 »

2024

Vieira, E R; Sivaramakrishnan, A; and Tangirala, S; Granados, E; Mischaikow, K; Bekris, K E

MORALS: Analysis of High-Dimensional Robot Controllers via Topological Tools in a Latent Space Conference

IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024.

Abstract | Links | BibTeX | Tags: Dynamics, Learning, Topology

2023

Vieira, E; Gao, K; Nakhimovich, D; Bekris, K E; Yu, J

Persistent Homology Guided Monte-Carlo Tree Search for Effective Non-Prehensile Manipulation Inproceedings

International Symposium on Experimental Robotics (ISER), 2023.

Links | BibTeX | Tags: Manipulation, Topology

Lu, S; Chang, H; Jing, E P; Boularias, A; Bekris, K E

OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Data Inproceedings

Conference on Robot Learning (CoRL), Atlanta, GA, 2023.

Abstract | Links | BibTeX | Tags: Robot Perception

Chang, H; Boyalakuntla, K; Lu, S; Cai, S; Jing, E; Keskar, S; Geng, S; Abbas, A; Zhou, L; Bekris, K E; Boularias, Abdeslam

Context-Aware Entity Grounding with Open-Vocabulary 3D Scene Graphs Conference

Conference on Robot Learning (CoRL), Atlanta, GA, 2023.

Abstract | Links | BibTeX | Tags: Learning, Robot Perception

Wang, K; III, Johnson W R; Lu, S; Huang, X; Booth, J; Kramer-Bottiglio, R; Aanjaneya, M; Bekris, K E

Real2Sim2Real Transfer for Control of Cable-driven Robots via a Differentiable Physics Engine Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, 2023.

Abstract | Links | BibTeX | Tags: simulation, tensegrity

Zhao, L; Wu, Y; Yan, W; Zhan, W; Huang, X; Booth, J; Mehta, A; Bekris, K E; Kramer-Bottiglio, R; Balkcom, D

StarBlocks: Soft Actuated Self-Connecting Blocks for Building Deformable Lattice Structures Journal Article

IEEE Robotics and Automation Letters, 8 (8), pp. 4521 - 4528, 2023.

Abstract | Links | BibTeX | Tags: tensegrity

Li, S; Keipour, A; Jamieson, K; Hudson, N; Swan, C; Bekris, K E

Demonstrating Large-Scale Package Manipulation via Learned Metrics of Pick Success Inproceedings

Robotics: Science and Systems (RSS), Daegu, Korea, 2023.

Abstract | Links | BibTeX | Tags: Learning, Manipulation

Vieira, E R; Sivaramakrishnan, A; Song, Y; Granados, E; Gameiro, M; Mischaikow, K; Hung, Y; Bekris, K E

Data-Efficient Characterization of the Global Dynamics of Robot Controllers with Confidence Guarantees Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023.

Abstract | Links | BibTeX | Tags: Dynamics, Topology

Nakhimovich, D; Miao, Y; Bekris, K E

Resolution Complete In-Place Object Retrieval Given Known Object Models Inproceedings

IEEE International Conference on Robotics and Automatics (ICRA), London, UK, 2023.

Abstract | Links | BibTeX | Tags: Manipulation, Planning, Rearrangement

Lu, S; Deng, Y; Boularias, A; Bekris, K E

Self-Supervised Learning of Object Segmentation from Unlabeled RGB-D Videos Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), London, UK, 2023.

Abstract | Links | BibTeX | Tags: Robot Perception

2022

Lu, S; Johnson, W; Wang, K; Huang, X; Booth, J; Kramer-Bottiglio, R; Bekris, K E

6N-DoF Pose Tracking for Tensegrity Robots Inproceedings

International Symposium on Robotics Research (ISRR), 2022.

Abstract | Links | BibTeX | Tags: Robot Perception, tensegrity

Miao, Y; Wang, R; Bekris, K E

Safe, Occlusion-Aware Manipulation for Online Object Reconstruction in Confined Space Inproceedings

International Symposium on Robotics Research (ISRR) , 2022.

Abstract | Links | BibTeX | Tags: Manipulation, Planning, Robot Perception

Wen, B; Lian, W; Bekris, K E; Schaal, S

You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration Inproceedings

Robotics: Science and Systems (RSS), 2022, (Nomination for Best Paper Award).

Abstract | Links | BibTeX | Tags: Learning, Manipulation, Robot Perception

Vieira, E; Granados, E; Sivaramakrishnan, A; Gameiro, M; Mischaikow, K; Bekris, K E

Morse Graphs: Topological Tools for Analyzing the Global Dynamics of Robot Controllers Inproceedings

Workshop on the Algorithmic Foundations of Robotics (WAFR), 2022.

Abstract | Links | BibTeX | Tags: Dynamics

Wang, R; Gao, K; Yu, J; Bekris, K E

Lazy Rearrangement Planning in Confined Spaces Inproceedings

International Conference on Automated Planning and Scheduling (ICAPS), 2022.

Abstract | Links | BibTeX | Tags: Manipulation, Rearrangement

McMahon, T; Sivaramakrishnan, A; Granados, E; Bekris, K E

A Survey on the Integration of Machine Learning with Sampling-based Motion Planning Journal Article Forthcoming

Foundations and Trends in Robotics, Forthcoming.

BibTeX | Tags: Learning, Planning

McMahon, T; Sivaramakrishnan, A; Kedia, K; Granados, E; Bekris, K E

Terrain-Aware Learned Controllers for Sampling-Based Kinodynamic Planning over Physically Simulated Terrains Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

BibTeX | Tags: Dynamics, Learning, Planning

Lu, S; Wang, R; Miao, Y; Mitash, C; Bekris, K E

Online Object Model Reconstruction and Reuse for Lifelong Improvement of Robot Manipulation Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022, (Nomination for Best Paper Award in Manipulation).

Abstract | Links | BibTeX | Tags: Manipulation, Robot Perception

Wen, B; Lian, W; Bekris, K E; Schaal, S

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Manipulation, Robot Perception

Morgan, A; Hang, K; Wen, B; Bekris, K E; Dollar, A

Complex In-Hand Manipulation via Compliance-Enabled Finger Gaiting and Multi-Modal Planning Journal Article

IEEE Robotics and Automation Letters (also at ICRA), 2022.

Abstract | Links | BibTeX | Tags: Manipulation

Wang, K; Aanjaneya, M; Bekris, K E

A Recurrent Differentiable Engine for Modeling Tensegrity Robots Trainable with Low-Frequency Data Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Dynamics, tensegrity

Wang, R; Miao, Y; Bekris, K E

Efficient and High-Quality Prehensile Rearrangement in Cluttered and Confined Spaces Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Manipulation, Rearrangement

Vieira, E; Nakhimovich, D; Gao, K; Wang, R; Yu, J; Bekris, K E

Persistent Homology for Effective Non-Prehensile Manipulation Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Manipulation

Granados, E; Boularias, A; Bekris, K E; Aanjaneya, M

Model Identification and Control of a Mobile Robot with Omnidirectional Wheels Using Differentiable Physics Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Dynamics, Learning

Liang, J; Wen, B; Bekris, K E; Boularias, A

Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Learning, Manipulation

Gao, K; Lau, D; Huang, B; Bekris, K E; Yu, J

Fast High-Quality Tabletop Rearrangement in Bounded Workspace Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2022.

Abstract | Links | BibTeX | Tags: Manipulation, Rearrangement

2021

Shah, D S; Booth, J W; Baines, R L; Wang, K; Vespignani, M; Bekris, K E; Kramer-Bottiglio, R

Tensegrity Robotics Journal Article

Soft Robotics, 2021.

Abstract | Links | BibTeX | Tags: tensegrity

Meng, P; Wang, W; Balkcom, D; Bekris, K E

Proof-of-Concept Designs for the Assembly of Modular, Dynamic Tensegrities into Easily Deployable Structures Conference

ASCE Earth and Space Conference 2021, Seattle, WA, 2021.

Abstract | BibTeX | Tags:

Wang, K; Aanjaneya, M; Bekris, K E

Sim2Sim Evaluation of a Novel Data-Efficient Differentiable Physics Engine for Tensegrity Robots Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

Abstract | BibTeX | Tags:

Sivaramakrishnan, A; Granados, E; Karten, S; McMahon, T; Bekris, K E

Improving Kinodynamic Planners for Vehicular Navigation with Learned Goal-Reaching Controllers Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

BibTeX | Tags:

Wen, B; Bekris, K E

BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

Abstract | Links | BibTeX | Tags: Pose Estimation, Robot Perception

Feng, S; Guo, T; Bekris, K E; Yu, J

Team RuBot’s experiences and lessons from the ARIAC Journal Article

Robotics and Computer-Integrated Manufacturing, 70 , 2021.

Abstract | Links | BibTeX | Tags: Rearrangement

Morgan, A; Wen, B; Junchi, L; Boularias, A; Dollar, A; Bekris, K E

Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks Conference

Robotics: Science and Systems, 2021.

Abstract | Links | BibTeX | Tags: Manipulation, Robot Perception

Wang, R; Gao, K; Nakhimovich, D; Yu, J; Bekris, K E

Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search Inproceedings

International Conference on Robotics and Automation (ICRA) 2021, 2021.

BibTeX | Tags: Rearrangement

Wang, R; Nakhimovich, D; Roberts, F; Bekris, K E

Robotics as an Enabler of Resiliency to Disasters: Promises and Pitfalls Book Chapter

Roberts, Fred S; Sheremet, Igor A (Ed.): 12660 , pp. 75-101, Springer, 2021.

Abstract | Links | BibTeX | Tags: Sociotechnological Systems

Shome, R; Solovey, K; Yu, J; Bekris, K E; Halperin, D

Fast, High-Quality Two-Arm Rearrangement in Synchronous, Monotone Tabletop Setups Journal Article

IEEE Transactions on Automation Science and Engineering, 2021.

Abstract | BibTeX | Tags: Rearrangement

2020

Mitash, C; Shome, R; Wen, B; Boularias, A; Bekris, K E

Task-driven Perception and Manipulation for Constrained Placement of Unknown Objects Journal Article

IEEE Robotics and Automation Letters (RA-L) (also appearing at IEEE/RSJ IROS 2020), 2020.

Abstract | Links | BibTeX | Tags:

Wen, B; Mitash, C; Ren, B; Bekris, K E

se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, 2020.

Abstract | Links | BibTeX | Tags:

Wang, R; Mitash, C; Lu, S; Boehm, D; Bekris, K E

Safe and Effective Picking Paths in Clutter given Discrete Distributions of Object Poses Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, 2020.

Abstract | Links | BibTeX | Tags:

Mitash, C

Scalable, Physics-aware 6D Pose Estimation for Robot Manipulation PhD Thesis

Rutgers University, 2020.

Abstract | Links | BibTeX | Tags: Pose Estimation

Shome, R; Bekris, K E

Synchronized Multi-Arm Rearrangement Guided by Mode Graphs with Capacity Constraints Conference

Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland, 2020.

Abstract | Links | BibTeX | Tags:

Shome, R; Nakhimovich, D; Bekris, K E

Pushing the Boundaries of Asymptotic Optimality in Integrated Task and Motion Planning Conference

Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland, 2020.

Abstract | Links | BibTeX | Tags:

Sintov, A; Kimmel, A; Wen, B; Boularias, A; Bekris, K E

Tools for Data-driven Modeling of Within-Hand Manipulation with Underactuated Adaptive Hands Conference

Learning for Dynamics & Control (L4DC), Berkeley, CA, 2020.

BibTeX | Tags:

Wang, K; Aanjaneya, M; Bekris, K E

A First Principles Approach for Data-Efficient System Identification of Spring-Rod Systems via Differentiable Physics Engines Conference

Learning for Dynamics & Control (L4DC), Berkeley, CA, 2020.

Links | BibTeX | Tags:

Sintov, A; Kimmel, A; Bekris, K E; Boularias, A

Motion Planning with Competency-Aware Transition Models for Underactuated Adaptive Hands Conference

IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020.

BibTeX | Tags:

Kleinbort, M; Solovey, K; Bonalli, R; Granados, E; Bekris, K E; Halperin, D

Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space Conference

IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020.

Abstract | Links | BibTeX | Tags:

Wen, B; Mitash, C; Soorian, S; Kimmel, A; Sintov, A; Bekris, K E

Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands Conference

IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020.

Abstract | Links | BibTeX | Tags:

Littlefield, Z

Efficient and Asymptotically Optimal Kinodynamic Motion Planning PhD Thesis

Rutgers, the State University of New Jersey, 2020.

Abstract | Links | BibTeX | Tags:

Shome, R

The Problem of Many: Efficient Multi-arm, Multi-Object Task and and Motion Planning with Optimality Guarantees PhD Thesis

Rutgers University, 2020.

Links | BibTeX | Tags:

Alikhani, M; Khalid, B; Shome, R; Mitash, C; Bekris, K E; Stone, M

That and There: Judging the Intent of Pointing Actions with Robotic Arms Conference

Thirty-Fourth AAAI Conference on Artificial Intelligence (AAAI-20), New York, NY, 2020.

Abstract | Links | BibTeX | Tags:

174 entries « 1 of 4 »