Search Results - "Driess, Danny"

Learning to solve sequential physical reasoning problems from a scene image by Driess, Danny, Ha, Jung-Su, Toussaint, Marc

“…In this article, we propose deep visual reasoning, which is a convolutional recurrent neural network that predicts discrete action sequences from an initial…”
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Optimality Principles in Human Point-to-Manifold Reaching Accounting for Muscle Dynamics by Wochner, Isabell, Driess, Danny, Zimmermann, Heiko, Haeufle, Daniel F. B., Toussaint, Marc, Schmitt, Syn

“…Human arm movements are highly stereotypical under a large variety of experimental conditions. This is striking due to the high redundancy of the human…”
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Muscles Reduce Neuronal Information Load: Quantification of Control Effort in Biological vs. Robotic Pointing and Walking by Haeufle, Daniel F B, Wochner, Isabell, Holzmüller, David, Driess, Danny, Günther, Michael, Schmitt, Syn

“…It is hypothesized that the nonlinear muscle characteristic of biomechanical systems simplify control in the sense that the information the nervous system has…”
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Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly by Hartmann, Valentin N., Orthey, Andreas, Driess, Danny, Oguz, Ozgur S., Toussaint, Marc

“…Robotic construction assembly planning aims to find feasible assembly sequences as well as the corresponding robot-paths and can be seen as a special case of…”
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FC3: Feasibility-Based Control Chain Coordination by Harris, Jason, Driess, Danny, Toussaint, Marc

“…Hierarchical coordination of controllers often uses symbolic state representations that fully abstract their underlying low-level controllers, treating them as…”
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Active learning with query paths for tactile object shape exploration by Driess, Danny, Englert, Peter, Toussaint, Marc

“…In the present work, we propose an active learning framework based on optimal query paths to efficiently address the problem of tactile object shape…”
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Describing Physics For Physical Reasoning: Force-Based Sequential Manipulation Planning by Toussaint, Marc, Ha, Jung-Su, Driess, Danny

“…Physical reasoning is a core aspect of intelligence in animals and humans. A central question is what model should be used as a basis for reasoning. Existing…”
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Foundation models in robotics: Applications, challenges, and the future by Firoozi, Roya, Tucker, Johnathan, Tian, Stephen, Majumdar, Anirudha, Sun, Jiankai, Liu, Weiyu, Zhu, Yuke, Song, Shuran, Kapoor, Ashish, Hausman, Karol, Ichter, Brian, Driess, Danny, Wu, Jiajun, Lu, Cewu, Schwager, Mac

“…We survey applications of pretrained foundation models in robotics. Traditional deep learning models in robotics are trained on small datasets tailored for…”
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Active Inverse Model Learning with Error and Reachable Set Estimates by Driess, Danny, Schmitt, Syn, Toussaint, Marc

“…In this work, we propose a framework to learn an inverse model of redundant systems. We address three problems. By formalizing what it actually means to learn…”
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Sequence-of-Constraints MPC: Reactive Timing-Optimal Control of Sequential Manipulation by Toussaint, Marc, Harris, Jason, Ha, Jung-Su, Driess, Danny, Honig, Wolfgang

“…Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and…”
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Robust Task and Motion Planning for Long-Horizon Architectural Construction Planning by Hartmann, Valentin N., Oguz, Ozgur S., Driess, Danny, Toussaint, Marc, Menges, Achim

“…Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated…”
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Deep Visual Constraints: Neural Implicit Models for Manipulation Planning From Visual Input by Ha, Jung-Su, Driess, Danny, Toussaint, Marc

“…Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and…”
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Learning Geometric Reasoning and Control for Long-Horizon Tasks from Visual Input by Driess, Danny, Ha, Jung-Su, Tedrake, Russ, Toussaint, Marc

“…Long-horizon manipulation tasks require joint reasoning over a sequence of discrete actions and their associated continuous control parameters. While Task and…”
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FC$^3$: Feasibility-Based Control Chain Coordination by Harris, Jason, Driess, Danny, Toussaint, Marc

“…Hierarchical coordination of controllers often uses symbolic state representations that fully abstract their underlying low-level controllers, treating them as…”
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Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input by Ha, Jung-Su, Driess, Danny, Toussaint, Marc

“…Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and…”
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Active Multi-Contact Continuous Tactile Exploration with Gaussian Process Differential Entropy by Driess, Danny, Hennes, Daniel, Toussaint, Marc

“…In the present work, we propose an active tactile exploration framework to obtain a surface model of an unknown object utilizing multiple contacts…”
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RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation by Nasiriany, Soroush, Kirmani, Sean, Ding, Tianli, Smith, Laura, Zhu, Yuke, Driess, Danny, Sadigh, Dorsa, Xiao, Ted

“…We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing…”
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ALOHA Unleashed: A Simple Recipe for Robot Dexterity by Zhao, Tony Z, Tompson, Jonathan, Driess, Danny, Florence, Pete, Ghasemipour, Kamyar, Finn, Chelsea, Wahid, Ayzaan

“…Recent work has shown promising results for learning end-to-end robot policies using imitation learning. In this work we address the question of how far can we…”
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A Probabilistic Framework for Constrained Manipulations and Task and Motion Planning under Uncertainty by Ha, Jung-Su, Driess, Danny, Toussaint, Marc

“…Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that…”
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Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning by Driess, Danny, Oguz, Ozgur, Ha, Jung-Su, Toussaint, Marc

“…In this paper, we propose a deep neural network that predicts the feasibility of a mixed-integer program from visual input for robot manipulation planning…”
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