Search Results - "Pokorny, Florian T"

Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation by Kaiyu Hang, Miao Li, Stork, Johannes A., Bekiroglu, Yasemin, Pokorny, Florian T., Billard, Aude, Kragic, Danica

“…We present a unified framework for grasp planning and in-hand grasp adaptation using visual, tactile, and proprioceptive feedback. The main objective of the…”
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Herding by caging: a formation-based motion planning framework for guiding mobile agents by Song, Haoran, Varava, Anastasiia, Kravchenko, Oleksandr, Kragic, Danica, Wang, Michael Yu, Pokorny, Florian T., Hang, Kaiyu

“…We propose a solution to the problem of herding by caging : given a set of mobile robots (called herders) and a group of moving agents (called sheep), we guide…”
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Partial caging: a clearance-based definition, datasets, and deep learning by Welle, Michael C., Varava, Anastasiia, Mahler, Jeffrey, Goldberg, Ken, Kragic, Danica, Pokorny, Florian T.

“…Caging grasps limit the mobility of an object to a bounded component of configuration space. We introduce a notion of partial cage quality based on maximal…”
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Topological trajectory classification with filtrations of simplicial complexes and persistent homology by Pokorny, Florian T., Hawasly, Majd, Ramamoorthy, Subramanian

“…In this work, we present a sampling-based approach to trajectory classification which enables automated high-level reasoning about topological classes of…”
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An algorithm for calculating top-dimensional bounding chains by Carvalho, J Frederico, Vejdemo-Johansson, Mikael, Kragic, Danica, Pokorny, Florian T

“…We describe the Coefficient-Flow algorithm for calculating the bounding chain of an $(n-1)$-boundary on an $n$-manifold-like simplicial complex $S$. We prove…”
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Caging Grasps of Rigid and Partially Deformable 3-D Objects With Double Fork and Neck Features by Varava, Anastasiia, Kragic, Danica, Pokorny, Florian T.

“…Caging provides an alternative to point-contact-based rigid grasping, relying on reasoning about the global free configuration space of an object under…”
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SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards by Krishnan, Sanjay, Garg, Animesh, Liaw, Richard, Thananjeyan, Brijen, Miller, Lauren, Pokorny, Florian T, Goldberg, Ken

“…We present sequential windowed inverse reinforcement learning (SWIRL), a policy search algorithm that is a hybrid of exploration and demonstration paradigms…”
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A database for reproducible manipulation research: CapriDB – Capture, Print, Innovate by Pokorny, Florian T., Bekiroglu, Yasemin, Pauwels, Karl, Butepage, Judith, Scherer, Clara, Kragic, Danica

“…We present a novel approach and database which combines the inexpensive generation of 3D object models via monocular or RGB-D camera images with 3D printing…”
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Planning-Augmented Hierarchical Reinforcement Learning by Gieselmann, Robert, Pokorny, Florian T.

“…Planning algorithms are powerful at solving long-horizon decision-making problems but require that environment dynamics are known. Model-free reinforcement…”
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A Robotics-Inspired Screening Algorithm for Molecular Caging Prediction by Kravchenko, Oleksandr, Varava, Anastasiia, Pokorny, Florian T, Devaurs, Didier, Kavraki, Lydia E, Kragic, Danica

“…We define a molecular caging complex as a pair of molecules in which one molecule (the “host” or “cage”) possesses a cavity that can encapsulate the other…”
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Free space of rigid objects: caging, path non-existence, and narrow passage detection by Varava, Anastasiia, Carvalho, J. Frederico, Kragic, Danica, Pokorny, Florian T.

“…In this work, we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in two and three dimensions…”
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Guest Editorial: Special issue on “Topological methods in robotics” by Bhattacharya, Subhrajit, Pokorny, Florian T., Choset, Howie

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ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation by Laezza, Rita, Gieselmann, Robert, Pokorny, Florian T., Karayiannidis, Yiannis

“…Recent advances in machine learning have triggered an enormous interest in using learning-based approaches for robot control and object manipulation. While the…”
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Standard Deep Generative Models for Density Estimation in Configuration Spaces: A Study of Benefits, Limits and Challenges by Gieselmann, Robert, Pokorny, Florian T.

“…Deep Generative Models such as Generative Adversarial Networks (GAN) and Variational Autoencoders (VAE) have found multiple applications in Robotics, with…”
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BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning by Kamat, Jay, Ortiz-Haro, Joaquim, Toussaint, Marc, Pokorny, Florian T., Orthey, Andreas

“…Optimal sampling based motion planning and trajectory optimization are two competing frameworks to generate optimal motion plans. Both frameworks have…”
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No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs by Liang, Claire, Knepper, Ross A., Pokorny, Florian T.

“…Robot navigation in human spaces today largely relies on the construction of precise geometric maps and a global motion plan. In this work, we navigate with…”
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Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards by Mahler, Jeffrey, Pokorny, Florian T., Hou, Brian, Roderick, Melrose, Laskey, Michael, Aubry, Mathieu, Kohlhoff, Kai, Kroger, Torsten, Kuffner, James, Goldberg, Ken

“…This paper presents the Dexterity Network (Dex-Net) 1.0, a dataset of 3D object models and a sampling-based planning algorithm to explore how Cloud Robotics…”
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Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes by Mahler, Jeffrey, Pokorny, Florian T., McCarthy, Zoe, van der Stappen, A. Frank, Goldberg, Ken

“…Caging grasps are valuable as they can be robust to bounded variations in object shape and pose, do not depend on friction, and enable transport of an object…”
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Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation by Rimon, Elon D., Pokorny, Florian T., Wan, Weiwei

“…This paper considers basket grasps, where a two-finger robot hand forms a basket that can safely lift and carry rigid objects in a 2-D gravitational…”
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Long-term Prediction of Motion Trajectories Using Path Homology Clusters by Frederico Carvalho, J., Vejdemo-Johansson, Mikael, Pokorny, Florian T., Kragic, Danica

“…In order for robots to share their workspace with people, they need to reason about human motion efficiently. In this work we leverage large datasets of paths…”
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