2024
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly.
CoRR, 2024
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Toward Automated Programming for Robotic Assembly Using ChatGPT.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
2023
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility.
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CoRR, 2023
Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion.
CoRR, 2022
On CAD Informed Adaptive Robotic Assembly.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
2017
ros_control: A generic and simple control framework for ROS.
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J. Open Source Softw., 2017
2016
Learning to plan for constrained manipulation from demonstrations.
Auton. Robots, 2016
2015
Learning grounded finite-state representations from unstructured demonstrations.
Int. J. Robotics Res., 2015
Towards a data-driven approach to human preferences in motion planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
Single- and dual-arm motion planning with heuristic search.
Int. J. Robotics Res., 2014
Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study.
CoRR, 2014
2013
Special Issue on Open Source Software-Supported Robotics Research.
Auton. Robots, 2013
Incremental Semantically Grounded Learning from Demonstration.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013
Anytime incremental planning with E-Graphs.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
Real-time collision detection and distance computation on point cloud sensor data.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
A single planner for a composite task of approaching, opening and navigating through non-spring and spring-loaded doors.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013
2012
IEEE Robotics Autom. Mag., 2012
Mobile Manipulation in Unstructured Environments: Perception, Planning, and Execution.
IEEE Robotics Autom. Mag., 2012
Robot Challenge [Competitions].
IEEE Robotics Autom. Mag., 2012
Faster Sample-Based Motion Planning Using Instance-Based Learning.
Proceedings of the Algorithmic Foundations of Robotics X, 2012
E-Graphs: Bootstrapping Planning with Experience Graphs.
Proceedings of the Fifth Annual Symposium on Combinatorial Search, 2012
E-Graphs: Bootstrapping Planning with Experience Graphs.
Proceedings of the Robotics: Science and Systems VIII, 2012
Motion planning with constraints using configuration space approximations.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
A generic infrastructure for benchmarking motion planners.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
FCL: A general purpose library for collision and proximity queries.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Navigation in three-dimensional cluttered environments for mobile manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Search-based planning for dual-arm manipulation with upright orientation constraints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
2011
Human-Inspired Robotic Grasp Control With Tactile Sensing.
IEEE Trans. Robotics, 2011
Tactile Sensing for Mobile Manipulation.
IEEE Trans. Robotics, 2011
Probabilistic Collision Detection Between Noisy Point Clouds Using Robust Classification.
Proceedings of the Robotics Research, 2011
Cart pushing with a mobile manipulation system: Towards navigation with moveable objects.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Skill learning and task outcome prediction for manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
STOMP: Stochastic trajectory optimization for motion planning.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Planning for Manipulation with Adaptive Motion Primitives.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
2010
Towards Reliable Grasping and Manipulation in Household Environments.
Proceedings of the Experimental Robotics, 2010
Contact-reactive grasping of objects with partial shape information.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
Combining planning techniques for manipulation using realtime perception.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Autonomous door opening and plugging in with a personal robot.
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Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Search-based planning for manipulation with motion primitives.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Tactile object class and internal state recognition for mobile manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Planning for autonomous door opening with a mobile manipulator.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
2009
Dynamic Rolling for a Modular Loop Robot.
Int. J. Robotics Res., 2009
Real-time perception-guided motion planning for a personal robot.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Search-based planning for a legged robot over rough terrain.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Laser-based perception for door and handle identification.
Proceedings of the 14th International Conference on Advanced Robotics, 2009
2008
Automatic Configuration Recognition Methods in Modular Robots.
Int. J. Robotics Res., 2008
2007
Proprioceptive localilzatilon for a quadrupedal robot on known terrain.
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2005
RoboTrikke: A Novel Undulatory Locomotion System.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005
2004
Design and Gait Control of a Rollerblading Robot.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
2003
Dynamics and generation of gaits for a planar rollerblader.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003
2002
Motion Planning for Heterogeneous Modular Mobile Systems.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002
2001
The University of Pennsylvania RoboCup Legged Soccer Team.
Proceedings of the RoboCup 2001: Robot Soccer World Cup V, 2001
New insights into quasi-static and dynamic omnidirectional quadrupedal walking.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001
2000
The University of Pennsylvania RoboCup Legged Soccer Team.
Proceedings of the RoboCup 2000: Robot Soccer World Cup IV, 2000