Search Results - "Issac, Jan"

RMPflow: A Geometric Framework for Generation of Multitask Motion Policies by Cheng, Ching-An, Mukadam, Mustafa, Issac, Jan, Birchfield, Stan, Fox, Dieter, Boots, Byron, Ratliff, Nathan

“…Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex…”
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Depth-based object tracking using a Robust Gaussian Filter by Issac, Jan, Wuthrich, Manuel, Cifuentes, Cristina Garcia, Bohg, Jeannette, Trimpe, Sebastian, Schaal, Stefan

“…We consider the problem of model-based 3D-tracking of objects given dense depth images as input. Two difficulties preclude the application of a standard…”
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Real-Time Perception Meets Reactive Motion Generation by Kappler, Daniel, Meier, Franziska, Issac, Jan, Mainprice, Jim, Cifuentes, Cristina Garcia, Wuthrich, Manuel, Berenz, Vincent, Schaal, Stefan, Ratliff, Nathan, Bohg, Jeannette

“…We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate…”
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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience by Chebotar, Yevgen, Handa, Ankur, Makoviychuk, Viktor, Macklin, Miles, Issac, Jan, Ratliff, Nathan, Fox, Dieter

“…We consider the problem of transferring policies to the real world by training on a distribution of simulated scenarios. Rather than manually tuning the…”
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Probabilistic Articulated Real-Time Tracking for Robot Manipulation by Garcia Cifuentes, Cristina, Issac, Jan, Wuthrich, Manuel, Schaal, Stefan, Bohg, Jeannette

“…We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in…”
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RMP flow : A Geometric Framework for Generation of Multitask Motion Policies by Cheng, Ching-An, Mukadam, Mustafa, Issac, Jan, Birchfield, Stan, Fox, Dieter, Boots, Byron, Ratliff, Nathan

“…Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex…”
Get full text

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies by Cheng, Ching-An, Mukadam, Mustafa, Issac, Jan, Birchfield, Stan, Fox, Dieter, Boots, Byron, Ratliff, Nathan

“…Generating robot motion for multiple tasks in dynamic environments is challenging, requiring an algorithm to respond reactively while accounting for complex…”
Get full text

RMPflow: A Computational Graph for Automatic Motion Policy Generation by Cheng, Ching-An, Mukadam, Mustafa, Issac, Jan, Birchfield, Stan, Fox, Dieter, Boots, Byron, Ratliff, Nathan

“…We develop a novel policy synthesis algorithm, RMPflow, based on geometrically consistent transformations of Riemannian Motion Policies (RMPs). RMPs are a…”
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Closing the Sim-to-Real Loop: Adapting Simulation Randomization with Real World Experience by Chebotar, Yevgen, Handa, Ankur, Makoviychuk, Viktor, Macklin, Miles, Issac, Jan, Ratliff, Nathan, Fox, Dieter

“…We consider the problem of transferring policies to the real world by training on a distribution of simulated scenarios. Rather than manually tuning the…”
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Riemannian Motion Policies by Ratliff, Nathan D, Issac, Jan, Kappler, Daniel, Birchfield, Stan, Fox, Dieter

“…We introduce the Riemannian Motion Policy (RMP), a new mathematical object for modular motion generation. An RMP is a second-order dynamical system…”
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Robust Gaussian filtering using a pseudo measurement by Wuthrich, Manuel, Cifuentes, Cristina Garcia, Trimpe, Sebastian, Meier, Franziska, Bohg, Jeannette, Issac, Jan, Schaal, Stefan

“…Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by…”
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Probabilistic Articulated Real-Time Tracking for Robot Manipulation by Cifuentes, Cristina Garcia, Issac, Jan, Wüthrich, Manuel, Schaal, Stefan, Bohg, Jeannette

“…We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in…”
Get full text

Depth-Based Object Tracking Using a Robust Gaussian Filter by Issac, Jan, Wüthrich, Manuel, Cifuentes, Cristina Garcia, Bohg, Jeannette, Trimpe, Sebastian, Schaal, Stefan

“…We consider the problem of model-based 3D-tracking of objects given dense depth images as input. Two difficulties preclude the application of a standard…”
Get full text

Autonomous acquisition of visual multi-view object representations for object recognition on a humanoid robot by Welke, Kai, Issac, Jan, Schiebener, David, Asfour, Tamim, Dillmann, Rüdiger

“…The autonomous acquisition of object representations which allow recognition, localization and grasping of objects in the environment is a challenging task,…”
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Robust Gaussian Filtering using a Pseudo Measurement by Wüthrich, Manuel, Cifuentes, Cristina Garcia, Trimpe, Sebastian, Meier, Franziska, Bohg, Jeannette, Issac, Jan, Schaal, Stefan

“…Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by…”
Get full text

Real-time Perception meets Reactive Motion Generation by Kappler, Daniel, Meier, Franziska, Issac, Jan, Mainprice, Jim, Cifuentes, Cristina Garcia, Wüthrich, Manuel, Berenz, Vincent, Schaal, Stefan, Ratliff, Nathan, Bohg, Jeannette

“…We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate…”
Get full text