Zobrazeno 1 - 10
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pro vyhledávání: '"Morgan, Andrew"'
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. To date, existing nonprehensile solutions are all robot-centric, i.e., the manipulation actions are generated with robot-relevant intent and their o
Externí odkaz:
http://arxiv.org/abs/2410.00261
Autor:
Shen, Zhou, Awel, Salah, Barty, Anton, Bean, Richard, Bielecki, Johan, Bergemann, Martin, Daurer, Benedikt J., Ekeberg, Tomas, Estillore, Armando D., Fangohr, Hans, Giewekemeyer, Klaus, Hunter, Mark S., Karnevskiy, Mikhail, Kirian, Richard A., Kirkwood, Henry, Kim, Yoonhee, Koliyadu, Jayanath, Lange, Holger, Letrun, Romain, Lübke, Jannik, Mall, Abhishek, Michelat, Thomas, Morgan, Andrew J., Roth, Nils, Samanta, Amit K., Sato, Tokushi, Sikorski, Marcin, Schulz, Florian, Vagovic, Patrik, Wollweber, Tamme, Worbs, Lena, Xavier, Paul Lourdu, Maia, Filipe R. N. C., Horke, Daniel A., Küpper, Jochen, Mancuso, Adrian P., Chapman, Henry N., Ayyer, Kartik, Loh, N. Duane
Nanoparticles, exhibiting functionally relevant structural heterogeneity, are at the forefront of cutting-edge research. Now, high-throughput single-particle imaging (SPI) with x-ray free-electron lasers (XFELs) creates unprecedented opportunities fo
Externí odkaz:
http://arxiv.org/abs/2401.04896
Publikováno v:
IEEE International Conference on Robotics and Automation (ICRA), 2023
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with respect to one
Externí odkaz:
http://arxiv.org/abs/2303.05565
Given a rooted tree and a ranking of its leaves, what is the minimum number of inversions of the leaves that can be attained by ordering the tree? This variation of the problem of counting inversions in arrays originated in mathematical psychology, w
Externí odkaz:
http://arxiv.org/abs/2211.12441
We introduce a hitting set generator for Polynomial Identity Testing based on evaluations of low-degree univariate rational functions at abscissas associated with the variables. We establish an equivalence up to rescaling with a generator introduced
Externí odkaz:
http://arxiv.org/abs/2211.01062
Autor:
Prasciolu, Mauro, Murray, Kevin T., Ivanov, Nikolay, Fleckenstein, Holger, Domaracký, Martin, Gelisio, Luca, Trost, Fabian, Ayyer, Kartik, Krebs, Dietrich, Aplin, Steve, Awel, Salah, Boesenberg, Ulrike, Barty, Anton, Estillore, Armando D., Fuchs, Matthias, Gevorkov, Yaroslav, Hallmann, Joerg, Kim, Chan, Knoška, Juraj, Küpper, Jochen, Li, Chufeng, Lu, Wei, Mariani, Valerio, Morgan, Andrew J., Möller, Johannes, Madsen, Anders, Oberthür, Dominik, Murillo, Gisel E. Peña, Reis, David A., Scholz, Markus, Šarler, Božidar, Villanueva-Perez, Pablo, Yefanov, Oleksandr, Zielinski, Kara A., Zozulya, Alexey, Chapman, Henry N., Bajt, Saša
Multilayer Laue lenses were used for the first time to focus x-rays from an X-ray Free Electron Laser (XFEL). In an experiment, which was performed at the European XFEL, we demonstrated focusing to a spot size of a few tens of nanometers. A series of
Externí odkaz:
http://arxiv.org/abs/2203.11712
Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to be freely
Externí odkaz:
http://arxiv.org/abs/2201.07928
Autor:
Zhuang, Yulong, Awel, Salah, Barty, Anton, Bean, Richard, Bielecki, Johan, Bergemann, Martin, Daurer, Benedikt J., Ekeberg, Tomas, Estillore, Armando D., Fangohr, Hans, Giewekemeyer, Klaus, Hunter, Mark S., Karnevskiy, Mikhail, Kirian, Richard A., Kirkwood, Henry, Kim, Yoonhee, Koliyadu, Jayanath, Lange, Holger, Letrun, Romain, Lübke, Jannik, Mall, Abhishek, Michelat, Thomas, Morgan, Andrew J., Roth, Nils, Samanta, Amit K., Sato, Tokushi, Shen, Zhou, Sikorski, Marcin, Schulz, Florian, Spence, John C. H., Vagovic, Patrik, Wollweber, Tamme, Worbs, Lena, Xavier, P. Lourdu, Yefanov, Oleksandr, Maia, Filipe R. N. C., Horke, Daniel A., Küpper, Jochen, Loh, N. Duane, Mancuso, Adrian P., Chapman, Henry N., Ayyer, Kartik
One of the outstanding analytical problems in X-ray single particle imaging (SPI) is the classification of structural heterogeneity, which is especially difficult given the low signal-to-noise ratios of individual patterns and that even identical obj
Externí odkaz:
http://arxiv.org/abs/2109.06179
Autor:
Morgan, Andrew S., Wen, Bowen, Liang, Junchi, Boularias, Abdeslam, Dollar, Aaron M., Bekris, Kostas
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception systems. This pa
Externí odkaz:
http://arxiv.org/abs/2106.14070
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning
Autor:
Morgan, Andrew S., Nandha, Daljeet, Chalvatzaki, Georgia, D'Eramo, Carlo, Dollar, Aaron M., Peters, Jan
Publikováno v:
2021 IEEE International Conference on Robotics and Automation (ICRA)
Substantial advancements to model-based reinforcement learning algorithms have been impeded by the model-bias induced by the collected data, which generally hurts performance. Meanwhile, their inherent sample efficiency warrants utility for most robo
Externí odkaz:
http://arxiv.org/abs/2103.13842