Search Results for author: Mac Schwager

Found 21 papers, 9 papers with code

CLIPSwarm: Generating Drone Shows from Text Prompts with Vision-Language Models

no code implementations20 Mar 2024 Pablo Pueyo, Eduardo Montijano, Ana C. Murillo, Mac Schwager

A formation is visually represented through alpha-shape contours and the most representative color is automatically found for the input word.

Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting

no code implementations14 Mar 2024 Aiden Swann, Matthew Strong, Won Kyung Do, Gadiel Sznaier Camps, Mac Schwager, Monroe Kennedy III

Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation; however, raw optical tactile sensor data is unsuitable to directly supervise a 3DGS scene.

Monocular Depth Estimation Transparent objects

Aria-NeRF: Multimodal Egocentric View Synthesis

no code implementations11 Nov 2023 Jiankai Sun, Jianing Qiu, Chuanyang Zheng, John Tucker, Javier Yu, Mac Schwager

The construction of a NeRF-like model from an egocentric image sequence plays a pivotal role in understanding human behavior and holds diverse applications within the realms of VR/AR.

Large-Scale Multi-Robot Assembly Planning for Autonomous Manufacturing

1 code implementation31 Oct 2023 Kyle Brown, Dylan M. Asmar, Mac Schwager, Mykel J. Kochenderfer

Mobile autonomous robots have the potential to revolutionize manufacturing processes.

GrAVITree: Graph-based Approximate Value Function In a Tree

no code implementations18 Jan 2023 Patrick H. Washington, David Fridovich-Keil, Mac Schwager

In this paper, we introduce GrAVITree, a tree- and sampling-based algorithm to compute a near-optimal value function and corresponding feedback policy for indefinite time-horizon, terminal state-constrained nonlinear optimal control problems.

Differentiable Physics Simulation of Dynamics-Augmented Neural Objects

no code implementations17 Oct 2022 Simon Le Cleac'h, Hong-Xing Yu, Michelle Guo, Taylor A. Howell, Ruohan Gao, Jiajun Wu, Zachary Manchester, Mac Schwager

A robot can use this simulation to optimize grasps and manipulation trajectories of neural objects, or to improve the neural object models through gradient-based real-to-simulation transfer.

Friction Object

Reachable Polyhedral Marching (RPM): An Exact Analysis Tool for Deep-Learned Control Systems

1 code implementation15 Oct 2022 Joseph A. Vincent, Mac Schwager

We then develop algorithms using this tool to compute invariant sets and regions of attraction (ROAs) for control systems with neural networks in the feedback loop.

NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields

no code implementations24 Sep 2022 Jiankai Sun, Yan Xu, Mingyu Ding, Hongwei Yi, Chen Wang, Jingdong Wang, Liangjun Zhang, Mac Schwager

Using current NeRF training tools, a robot can train a NeRF environment model in real-time and, using our algorithm, identify 3D bounding boxes of objects of interest within the NeRF for downstream navigation or manipulation tasks.

Object Localization Robot Navigation

Reachable Polyhedral Marching (RPM): A Safety Verification Algorithm for Robotic Systems with Deep Neural Network Components

1 code implementation23 Nov 2020 Joseph A. Vincent, Mac Schwager

We present a method for computing exact reachable sets for deep neural networks with rectified linear unit (ReLU) activation.

CoCo: Learning Strategies for Online Mixed-Integer Control

no code implementations NeurIPS Workshop LMCA 2020 Abhishek Cauligi, Preston Culbertson, Mac Schwager, Bartolomeo Stellato, Marco Pavone

Mixed-integer convex programming (MICP) is a popular modeling framework for solving discrete and combinatorial optimization problems arising in various settings.

Combinatorial Optimization

Risk-Sensitive Sequential Action Control with Multi-Modal Human Trajectory Forecasting for Safe Crowd-Robot Interaction

no code implementations12 Sep 2020 Haruki Nishimura, Boris Ivanovic, Adrien Gaidon, Marco Pavone, Mac Schwager

This paper presents a novel online framework for safe crowd-robot interaction based on risk-sensitive stochastic optimal control, wherein the risk is modeled by the entropic risk measure.

Model Predictive Control Trajectory Forecasting

Directional Primitives for Uncertainty-Aware Motion Estimation in Urban Environments

no code implementations1 Jul 2020 Ransalu Senanayake, Maneekwan Toyungyernsub, Mingyu Wang, Mykel J. Kochenderfer, Mac Schwager

We can use driving data collected over a long period of time to extract rich information about how vehicles behave in different areas of the roads.

Motion Estimation

Optimal Sequential Task Assignment and Path Finding for Multi-Agent Robotic Assembly Planning

1 code implementation16 Jun 2020 Kyle Brown, Oriana Peltzer, Martin A. Sehr, Mac Schwager, Mykel J. Kochenderfer

We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e. g., task $A$ and task $B$ must both be completed before task $C$ may begin).

CinemAirSim: A Camera-Realistic Robotics Simulator for Cinematographic Purposes

2 code implementations17 Mar 2020 Pablo Pueyo, Eric Cristofalo, Eduardo Montijano, Mac Schwager

Drones and Unmanned Aerial Vehicles (UAV's) are becoming increasingly popular in the film and entertainment industries in part because of their maneuverability and the dynamic shots and perspectives they enable.

Robotics

AirSim Drone Racing Lab

2 code implementations12 Mar 2020 Ratnesh Madaan, Nicholas Gyde, Sai Vemprala, Matthew Brown, Keiko Nagami, Tim Taubner, Eric Cristofalo, Davide Scaramuzza, Mac Schwager, Ashish Kapoor

Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control.

Benchmarking Optical Flow Estimation

ALGAMES: A Fast Solver for Constrained Dynamic Games

1 code implementation22 Oct 2019 Simon Le Cleac'h, Mac Schwager, Zachary Manchester

We evaluate our solver in the context of autonomous driving on scenarios with a strong level of interactions between the vehicles.

Autonomous Driving Model Predictive Control

Fast Reciprocal Collision Avoidance Under Measurement Uncertainty

1 code implementation30 May 2019 Guillermo Angeris, Kunal Shah, Mac Schwager

We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots.

Optimization and Control Robotics

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing

1 code implementation8 Jan 2018 Riccardo Spica, Davide Falanga, Eric Cristofalo, Eduardo Montijano, Davide Scaramuzza, Mac Schwager

To be successful in multi-player drone racing, a player must not only follow the race track in an optimal way, but also compete with other drones through strategic blocking, faking, and opportunistic passing while avoiding collisions.

Robotics

Q-Learning for Robust Satisfaction of Signal Temporal Logic Specifications

no code implementations23 Sep 2016 Derya Aksaray, Austin Jones, Zhaodan Kong, Mac Schwager, Calin Belta

This paper addresses the problem of learning optimal policies for satisfying signal temporal logic (STL) specifications by agents with unknown stochastic dynamics.

Systems and Control

Technical Report: Distribution Temporal Logic: Combining Correctness with Quality of Estimation

no code implementations9 Sep 2013 Austin Jones, Mac Schwager, Calin Belta

We present a new temporal logic called Distribution Temporal Logic (DTL) defined over predicates of belief states and hidden states of partially observable systems.

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