Nathan D. Ratliff

Ankur Handa

CoRR, 2024

DextrAH-G: Pixels-to-Action Dexterous Arm-Hand Grasping with Geometric Fabrics.

[BibT_eX]

[DOI]

CoRR, 2024

Geometric Fabrics: a Safe Guiding Medium for Policy Learning.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.

[BibT_eX]

[DOI]

Siva Kumar Sastry Hari

CoRR, 2023

Fabrics: A Foundationally Stable Medium for Encoding Prior Experience.

[BibT_eX]

[DOI]

Karl Van Wyk

CoRR, 2023

Global and Reactive Motion Generation with Geometric Fabric Command Sequences.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

CuRobo: Parallelized Collision-Free Robot Motion Generation.

[BibT_eX]

[DOI]

Siva Kumar Sastry Hari

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior.

[BibT_eX]

[DOI]

Dieter Fox

Byron Boots

IEEE Robotics Autom. Lett., 2022

Neural Geometric Fabrics: Efficiently Learning High-Dimensional Policies from Demonstration.

[BibT_eX]

[DOI]

Proceedings of the Conference on Robot Learning, 2022

2021

RMPflow: A Geometric Framework for Generation of Multitask Motion Policies.

[BibT_eX]

[DOI]

IEEE Trans Autom. Sci. Eng., 2021

CoDE: Collocation for Demonstration Encoding.

[BibT_eX]

[DOI]

CoRR, 2021

Fast Joint Space Model-Predictive Control for Reactive Manipulation.

[BibT_eX]

[DOI]

Mohak Bhardwaj

CoRR, 2021

RMP2: A Structured Composable Policy Class for Robot Learning.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XVII, Virtual Event, July 12-16, 2021., 2021

Towards Coordinated Robot Motions: End-to-End Learning of Motion Policies on Transform Trees.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Generalized Nonlinear and Finsler Geometry for Robotics.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation.

[BibT_eX]

[DOI]

Mohak Bhardwaj

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020

Model-Based Generalization Under Parameter Uncertainty Using Path Integral Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Optimization Fabrics for Behavioral Design.

[BibT_eX]

[DOI]

CoRR, 2020

Geometric Fabrics for the Acceleration-based Design of Robotic Motion.

[BibT_eX]

[DOI]

CoRR, 2020

Optimization Fabrics.

[BibT_eX]

[DOI]

CoRR, 2020

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies.

[BibT_eX]

[DOI]

CoRR, 2020

An Interior Point Method Solving Motion Planning Problems with Narrow Passages.

[BibT_eX]

[DOI]

Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, 2020

Euclideanizing Flows: Diffeomorphic Reduction for Learning Stable Dynamical Systems.

[BibT_eX]

[DOI]

Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Collaborative Interaction Models for Optimized Human-Robot Teamwork.

[BibT_eX]

[DOI]

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Scaling Local Control to Large-Scale Topological Navigation.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Guided Uncertainty-Aware Policy Optimization: Combining Learning and Model-Based Strategies for Sample-Efficient Policy Learning.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

DexPilot: Vision-Based Teleoperation of Dexterous Robotic Hand-Arm System.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Trajectory Optimization for Coordinated Human-Robot Collaboration.

[BibT_eX]

[DOI]

CoRR, 2019

Representing Robot Task Plans as Robust Logical-Dynamical Systems.

[BibT_eX]

[DOI]

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Learning Latent Space Dynamics for Tactile Servoing.

[BibT_eX]

[DOI]

Giovanni Sutanto

Proceedings of the International Conference on Robotics and Automation, 2019

Robust Learning of Tactile Force Estimation through Robot Interaction.

[BibT_eX]

[DOI]

Alexander Sasha Lambert

Proceedings of the International Conference on Robotics and Automation, 2019

Neural Autonomous Navigation with Riemannian Motion Policy.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing.

[BibT_eX]

[DOI]

Alexander Sasha Lambert

Mustafa Mukadam

Cristina Garcia Cifuentes

Byron Boots

Dieter Fox

Proceedings of the International Conference on Robotics and Automation, 2019

Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Predictor-Corrector Policy Optimization.

[BibT_eX]

[DOI]

Proceedings of the 36th International Conference on Machine Learning, 2019

Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations.

[BibT_eX]

[DOI]

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping.

[BibT_eX]

[DOI]

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Real-Time Perception Meets Reactive Motion Generation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation.

[BibT_eX]

[DOI]

CoRR, 2018

Riemannian Motion Policies.

[BibT_eX]

[DOI]

Jan Issac

Daniel Kappler

CoRR, 2018

RMP<i>flow</i>: A Computational Graph for Automatic Motion Policy Generation.

[BibT_eX]

[DOI]

Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

2017

Real-time natural language corrections for assistive robotic manipulators.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2017

A new data source for inverse dynamics learning.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

2016

On the Fundamental Importance of Gauss-Newton in Motion Optimization.

[BibT_eX]

[DOI]

CoRR, 2016

DOOMED: Direct Online Optimization of Modeling Errors in Dynamics.

[BibT_eX]

[DOI]

Big Data, 2016

Towards robust online inverse dynamics learning.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Warping the workspace geometry with electric potentials for motion optimization of manipulation tasks.

[BibT_eX]

[DOI]

Jim Mainprice

Stefan Schaal

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

2015

Policy Learning with Hypothesis based Local Action Selection.

[BibT_eX]

[DOI]

CoRR, 2015

Direct Loss Minimization Inverse Optimal Control.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Understanding the geometry of workspace obstacles in Motion Optimization.

[BibT_eX]

[DOI]

Marc Toussaint

Stefan Schaal

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Dual execution of optimized contact interaction trajectories.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

2013

CHOMP: Covariant Hamiltonian optimization for motion planning.

[BibT_eX]

[DOI]

Christopher M. Dellin

Int. J. Robotics Res., 2013

2011

Optimization and learning for rough terrain legged locomotion.

[BibT_eX]

[DOI]

Christopher G. Atkeson

James Kuffner

Int. J. Robotics Res., 2011

Semi-supervised Learning with Density Based Distances.

[BibT_eX]

[DOI]

Avleen Singh Bijral

Nathan Srebro

Proceedings of the UAI 2011, 2011

Manipulation planning with goal sets using constrained trajectory optimization.

[BibT_eX]

[DOI]

Anca D. Dragan

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2009

Inverse Optimal Heuristic Control for Imitation Learning.

[BibT_eX]

[DOI]

Proceedings of the Twelfth International Conference on Artificial Intelligence and Statistics, 2009

Learning to search: Functional gradient techniques for imitation learning.

[BibT_eX]

[DOI]

David Silver

Auton. Robots, 2009

Planning-based prediction for pedestrians.

[BibT_eX]

[DOI]

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

Self-Supervised Aerial Image Analysis for Extracting Parking Lot Structure.

[BibT_eX]

[DOI]

Young-Woo Seo

Chris Urmson

Proceedings of the IJCAI 2009, 2009

CHOMP: Gradient optimization techniques for efficient motion planning.

[BibT_eX]

[DOI]

Matthew Zucker

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

2008

BiSpace Planning: Concurrent Multi-Space Exploration.

[BibT_eX]

[DOI]

Rosen Diankov

Dave Ferguson

James Kuffner

Proceedings of the Robotics: Science and Systems IV, 2008

2007

(Approximate) Subgradient Methods for Structured Prediction.

[BibT_eX]

[DOI]

Martin Zinkevich

Proceedings of the Eleventh International Conference on Artificial Intelligence and Statistics, 2007

Kernel Conjugate Gradient for Fast Kernel Machines.

[BibT_eX]

[DOI]

Proceedings of the IJCAI 2007, 2007

Imitation learning for locomotion and manipulation.

[BibT_eX]

[DOI]

James A. Bagnell

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 29th, 2007

2006

Boosting Structured Prediction for Imitation Learning.

[BibT_eX]

[DOI]

Proceedings of the Advances in Neural Information Processing Systems 19, 2006

Maximum margin planning.

[BibT_eX]

[DOI]