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of 652
pro vyhledávání: '"Kelly, Jonathan"'
Learning from examples of success is an appealing approach to reinforcement learning that eliminates many of the disadvantages of using hand-crafted reward functions or full expert-demonstration trajectories, both of which can be difficult to acquire
Externí odkaz:
http://arxiv.org/abs/2407.03311
Autor:
Brandon, William, Mishra, Mayank, Nrusimha, Aniruddha, Panda, Rameswar, Kelly, Jonathan Ragan
Key-value (KV) caching plays an essential role in accelerating decoding for transformer-based autoregressive large language models (LLMs). However, the amount of memory required to store the KV cache can become prohibitive at long sequence lengths an
Externí odkaz:
http://arxiv.org/abs/2405.12981
Autor:
Mirzaei, Ashkan, De Lutio, Riccardo, Kim, Seung Wook, Acuna, David, Kelly, Jonathan, Fidler, Sanja, Gilitschenski, Igor, Gojcic, Zan
Neural reconstruction approaches are rapidly emerging as the preferred representation for 3D scenes, but their limited editability is still posing a challenge. In this work, we propose an approach for 3D scene inpainting -- the task of coherently rep
Externí odkaz:
http://arxiv.org/abs/2404.10765
Autor:
Sanaei, Mohammadamin, Gilbert, Stephen B., Javadpour, Nikoo, Sabouni, Hila, Dorneich, Michael C., Kelly, Jonathan W.
This investigation examined the relationships among scene complexity, workload, presence, and cybersickness in virtual reality (VR) environments. Numerous factors can influence the overall VR experience, and existing research on this matter is not ye
Externí odkaz:
http://arxiv.org/abs/2403.19019
Six axis force-torque sensors are commonly attached to the wrist of serial robots to measure the external forces and torques acting on the robot's end-effector. These measurements are used for load identification, contact detection, and human-robot i
Externí odkaz:
http://arxiv.org/abs/2403.01068
We introduce PhotoBot, a framework for fully automated photo acquisition based on an interplay between high-level human language guidance and a robot photographer. We propose to communicate photography suggestions to the user via reference images tha
Externí odkaz:
http://arxiv.org/abs/2401.11061
Exploration of the lunar south pole with a solar-powered rover is challenging due to the highly dynamic solar illumination conditions and the presence of permanently shadowed regions (PSRs). In turn, careful planning in space and time is essential. M
Externí odkaz:
http://arxiv.org/abs/2401.08558
Autor:
Kelly, Jonathan
We consider the Galilean group of transformations that preserve spatial distances and absolute time intervals between events in spacetime. The special Galilean group SGal(3) is a 10-dimensional Lie group; we examine the structure of the group and its
Externí odkaz:
http://arxiv.org/abs/2312.07555
Autor:
Limoyo, Oliver, Konar, Abhisek, Ablett, Trevor, Kelly, Jonathan, Hogan, Francois R., Dudek, Gregory
We present placing via picking (PvP), a method to autonomously collect real-world demonstrations for a family of placing tasks in which objects must be manipulated to specific, contact-constrained locations. With PvP, we approach the collection of ro
Externí odkaz:
http://arxiv.org/abs/2312.02352
Autor:
Ablett, Trevor, Limoyo, Oliver, Sigal, Adam, Jilani, Affan, Kelly, Jonathan, Siddiqi, Kaleem, Hogan, Francois, Dudek, Gregory
Contact-rich tasks continue to present a variety of challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learning (IL) to perform contact rich tasks that involve relative mo
Externí odkaz:
http://arxiv.org/abs/2311.01248