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06/20/2023
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs
In this letter, a paradigm for the classification and manipulation of pr...
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05/25/2023
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration
This paper proposes a learning-from-demonstration method using probabili...
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05/11/2023
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Robotic grasping is an essential and fundamental task and has been studi...
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03/23/2023
Marching-Primitives: Shape Abstraction from Signed Distance Function
Representing complex objects with basic geometric primitives has long be...
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02/28/2023
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
This paper presents a novel model-free method for humanoid-robot quasi-s...
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03/28/2022
Primitive-based Shape Abstraction via Nonparametric Bayesian Inference
3D shape abstraction has drawn great interest over the years. Apart from...
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02/26/2022
Watch Me Calibrate My Force-Sensing Shoes!
This letter presents a novel method for smaller-sized humanoid robots to...
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02/08/2022
When Kinematics Dominates Mechanics: Locally Volume-Preserving Primitives for Model Reduction in Finite Elasticity
A new, and extremely fast, computational modeling paradigm is introduced...
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11/29/2021
Robust and Accurate Superquadric Recovery: a Probabilistic Approach
Interpreting objects with basic geometric primitives has long been studi...
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04/20/2021
How Heavy Is It? Humanoid Robot Estimating Physical Properties of Unknown Objects Without Force/Torque Sensors
Many robots utilize commercial force/torque sensors to identify physical...
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04/14/2021
Look at my new blue force-sensing shoes!
To function autonomously in the physical world, humanoid robots need hig...
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04/10/2021
Efficient Path Planning in Narrow Passages via Closed-Form Minkowski Operations
Path planning has long been one of the major research areas in robotics,...
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12/31/2020
Closed-Form Minkowski Sums of Convex Bodies with Smooth Positively Curved Boundaries
This paper proposes a closed-form parametric formula of the Minkowski su...
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08/09/2020
Can I lift it? Humanoid robot reasoning about the feasibility of lifting a heavy box with unknown physical properties
A robot cannot lift up an object if it is not feasible to do so. However...
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08/05/2020
Can I Pour into It? Robot Imagining Open Containability Affordance of Previously Unseen Objects via Physical Simulations
Open containers, i.e., containers without covers, are an important and u...
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04/12/2020
A Mosquito Pick-and-Place System for PfSPZ-based Malaria Vaccine Production
The treatment of malaria is a global health challenge that stands to ben...
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09/17/2019
Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body
For robots to exhibit a high level of intelligence in the real world, th...
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04/30/2019
Curvature: A signature for Action Recognition in Video Sequences
In this paper, a novel signature of human action recognition, namely the...
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03/21/2019
Quotienting Impertinent Camera Kinematics for 3D Video Stabilization
With the recent advent of methods that allow for real-time computation, ...
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03/05/2019
An Efficient Production Process for Extracting Salivary Glands from Mosquitoes
Malaria is the one of the leading causes of morbidity and mortality in m...
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11/28/2018
Quantizing Euclidean motions via double-coset decomposition
Concepts from mathematical crystallography and group theory are used her...
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08/02/2018
Parallelization of the FFT on SO(3)
In this paper, a work-optimal parallelization of Kostelec and Rockmore's...
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07/18/2018
Signal Alignment for Humanoid Skeletons via the Globally Optimal Reparameterization Algorithm
The general ability to analyze and classify the 3D kinematics of the hum...
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07/15/2018
The Globally Optimal Reparameterization Algorithm: an Alternative to Fast Dynamic Time Warping for Action Recognition in Video Sequences
Signal alignment has become a popular problem in robotics due in part to...
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05/06/2011