no code implementations • 31 Jan 2025 • Richard Cheng, Chavdar Papozov, Dan Helmick, Mark Tjersland
Point cloud registration refers to the problem of finding the rigid transformation that aligns two given point clouds, and is crucial for many applications in robotics and computer vision.
no code implementations • 27 Sep 2022 • Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg
Cables are commonplace in homes, hospitals, and industrial warehouses and are prone to tangling.
1 code implementation • 11 Apr 2020 • Richard Cheng, Mohammad Javad Khojasteh, Aaron D. Ames, Joel W. Burdick
Robots operating in real world settings must navigate and maintain safety while interacting with many heterogeneous agents and obstacles.
1 code implementation • 13 Mar 2020 • Maegan Tucker, Myra Cheng, Ellen Novoseller, Richard Cheng, Yisong Yue, Joel W. Burdick, Aaron D. Ames
Optimizing lower-body exoskeleton walking gaits for user comfort requires understanding users' preferences over a high-dimensional gait parameter space.
1 code implementation • 14 May 2019 • Richard Cheng, Abhinav Verma, Gabor Orosz, Swarat Chaudhuri, Yisong Yue, Joel W. Burdick
We show that functional regularization yields a bias-variance trade-off, and propose an adaptive tuning strategy to optimize this trade-off.
1 code implementation • 21 Mar 2019 • Richard Cheng, Gabor Orosz, Richard M. Murray, Joel W. Burdick
Reinforcement Learning (RL) algorithms have found limited success beyond simulated applications, and one main reason is the absence of safety guarantees during the learning process.