Search Results for author:
Found 6 papers, 1 papers with code
Neural Contractive Dynamical Systems
Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions.
Learning Realistic Joint Space Boundaries for Range of Motion Analysis of Healthy and Impaired Human Arms
Modeling realistic joint constraints, however, is challenging as human arm motion is constrained by joint limits, inter- and intra-joint dependencies, self-collisions, individual capabilities and muscular or neurological constraints which are difficult to represent.
Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies
Given a new task instance/context, the Elastic-GMM is transformed with Laplacian Editing and used to re-estimate the LPV-DS policy.
A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion
We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes.
Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations
In this work, we identify the roots of this challenge as the failure of a learned continuous policy to satisfy the discrete plan implicit in the demonstration.
Transform-Invariant Non-Parametric Clustering of Covariance Matrices and its Application to Unsupervised Joint Segmentation and Action Discovery
Resulting in a topic-modeling inspired hierarchical model for unsupervised time-series data analysis which we call ICSC-HMM (IBP Coupled SPCM-CRP Hidden Markov Model).
