Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Shorinwa, Ola"'
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of robots to optimize a time sequence of forces to objects and to their env
Externí odkaz:
http://arxiv.org/abs/2410.23283
Autor:
Chen, Timothy, Swann, Aiden, Yu, Javier, Shorinwa, Ola, Murai, Riku, Kennedy III, Monroe, Schwager, Mac
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive action filter, based on control barrier functions, for safe robotic navigation in a detailed map constructed at runtime using
Externí odkaz:
http://arxiv.org/abs/2409.09868
We present a method to integrate real-time out-of-distribution (OOD) detection for neural network trajectory predictors, and to adapt the control strategy of a robot (e.g., a self-driving car or drone) to preserve safety while operating in OOD regime
Externí odkaz:
http://arxiv.org/abs/2406.02436
Autor:
Shorinwa, Ola, Tucker, Johnathan, Smith, Aliyah, Swann, Aiden, Chen, Timothy, Firoozi, Roya, Kennedy III, Monroe, Schwager, Mac
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to enable multi-stage manipulation tasks. Splat-MOVER consists of: (i) ASK
Externí odkaz:
http://arxiv.org/abs/2405.04378
Autor:
Chen, Timothy, Shorinwa, Ola, Bruno, Joseph, Yu, Javier, Zeng, Weijia, Nagami, Keiko, Dames, Philip, Schwager, Mac
We present Splat-Nav, a real-time navigation pipeline designed to work with environment representations generated by Gaussian Splatting (GSplat), a popular emerging 3D scene representation from computer vision. Splat-Nav consists of two components: 1
Externí odkaz:
http://arxiv.org/abs/2403.02751
Autor:
Shorinwa, Ola, Schwager, Mac
We present a distributed quasi-Newton (DQN) method, which enables a group of agents to compute an optimal solution of a separable multi-agent optimization problem locally using an approximation of the curvature of the aggregate objective function. Ea
Externí odkaz:
http://arxiv.org/abs/2402.06778
Autor:
Shorinwa, Ola, Schwager, Mac
We present a distributed conjugate gradient method for distributed optimization problems, where each agent computes an optimal solution of the problem locally without any central computation or coordination, while communicating with its immediate, on
Externí odkaz:
http://arxiv.org/abs/2309.12235
Although the field of distributed optimization is well-developed, relevant literature focused on the application of distributed optimization to multi-robot problems is limited. This survey constitutes the second part of a two-part series on distribut
Externí odkaz:
http://arxiv.org/abs/2301.11361
Distributed optimization provides a framework for deriving distributed algorithms for a variety of multi-robot problems. This tutorial constitutes the first part of a two-part series on distributed optimization applied to multi-robot problems, which
Externí odkaz:
http://arxiv.org/abs/2301.11313
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics, distributed optimiz
Externí odkaz:
http://arxiv.org/abs/2103.12840