Zobrazeno 1 - 10
of 19
pro vyhledávání: '"Brijen Thananjeyan"'
Publikováno v:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6c67746fe8c099e322811effe4ea2649
https://doi.org/10.1109/iros47612.2022.9981768
https://doi.org/10.1109/iros47612.2022.9981768
Autor:
Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg
Publikováno v:
2022 IEEE 18th International Conference on Automation Science and Engineering (CASE).
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::157e2c0ffef05aade3ca4dade2a4c64a
https://doi.org/10.1109/case49997.2022.9926585
https://doi.org/10.1109/case49997.2022.9926585
Autor:
Joseph E. Gonzalez, Jennifer Grannen, Ashwin Balakrishna, Ellen Novoseller, Ken Goldberg, Michael Laskey, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Priya Sundaresan
Publikováno v:
Robotics: Science and Systems
Robot manipulation for untangling 1D deformable structures such as ropes, cables, and wires is challenging due to their infinite dimensional configuration space, complex dynamics, and tendency to self-occlude. Analytical controllers often fail in the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::293284951f21fe7fa84409d626cb755a
http://arxiv.org/abs/2107.08942
http://arxiv.org/abs/2107.08942
Autor:
Ken Goldberg, Nawid Jamali, Ashwin Balakrishna, Soshi Iba, Minho Hwang, Aditya Ganapathi, Priya Sundaresan, Ryan Hoque, Daniel Seita, Jennifer Grannen, Katsu Yamane, Brijen Thananjeyan, Joseph E. Gonzalez
Publikováno v:
ICRA
Robotic fabric manipulation is challenging due to the infinite dimensional configuration space, self-occlusion, and complex dynamics of fabrics. There has been significant prior work on learning policies for specific deformable manipulation tasks, bu
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::21a2023ebf69123df87d3bd731a7c04c
https://doi.org/10.1109/icra48506.2021.9561980
https://doi.org/10.1109/icra48506.2021.9561980
Autor:
Ugo Rosolia, Brijen Thananjeyan, Ken Goldberg, Aaron D. Ames, Joseph E. Gonzalez, Ashwin Balakrishna
Publikováno v:
Algorithmic Foundations of Robotics XIV ISBN: 9783030667221
WAFR
WAFR
Sample-based learning model predictive control (LMPC) strategies have recently attracted attention due to their desirable theoretical properties and good empirical performance on robotic tasks. However, prior analysis of LMPC controllers for stochast
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::cac79c05f345c36f0ac21d1d1a787ba4
https://resolver.caltech.edu/CaltechAUTHORS:20210302-153300449
https://resolver.caltech.edu/CaltechAUTHORS:20210302-153300449
Autor:
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks such as suturing can lead to surgeon fatigue, motivating the automation
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d4cf011f9cacd32a14716c0dd1360ee3
Autor:
Carl Putterman, Ken Goldberg, Ashwin Balakrishna, Daniel S. Brown, Brijen Thananjeyan, Daniel Seita, Ellen Novoseller, Ryan Hoque, Michael Luo
Publikováno v:
CASE
Corrective interventions while a robot is learning to automate a task provide an intuitive method for a human supervisor to assist the robot and convey information about desired behavior. However, these interventions can impose significant burden on
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ac532220688c7ab283ac44a3310f85f8
Autor:
Michael Luo, Krishnan Srinivasan, Julian Ibarz, Chelsea Finn, Minho Hwang, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg, Suraj Nair
Safety remains a central obstacle preventing widespread use of RL in the real world: learning new tasks in uncertain environments requires extensive exploration, but safety requires limiting exploration. We propose Recovery RL, an algorithm which nav
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::41b49e06b5e38d9264280ba70b6a7665
http://arxiv.org/abs/2010.15920
http://arxiv.org/abs/2010.15920
Autor:
Soshi Iba, Aditya Ganapathi, Nawid Jamali, Jeffrey Ichnowski, Ajay Kumar Tanwani, Katsu Yamane, John Canny, Brijen Thananjeyan, Ken Goldberg, Minho Hwang, Ryan Hoque, Edward Cen, Daniel Seita, Ashwin Balakrishna
Publikováno v:
IROS
Sequential pulling policies to flatten and smooth fabrics have applications from surgery to manufacturing to home tasks such as bed making and folding clothes. Due to the complexity of fabric states and dynamics, we apply deep imitation learning to l
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d5cefdeefd10fe49b64853946fdb1b55
https://doi.org/10.1109/iros45743.2020.9341608
https://doi.org/10.1109/iros45743.2020.9341608
Autor:
Danyal Fer, Minho Hwang, Thomas P. Low, Samuel Paradis, Brijen Thananjeyan, Jeffrey Ichnowski, Ken Goldberg, Daniel Seita
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in control from cable-related effects such as cable stretching and hyste
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::70ac9a83405f15fbe913c34694ad4197
http://arxiv.org/abs/2003.08520
http://arxiv.org/abs/2003.08520