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Skip to Search Results- 16Robotics
- 2Computer Vision
- 2Reinforcement learning
- 1Appearance-based SLAM
- 1Artificial intelligence
- 1Assistive Robotics
- 2Parker, Christopher A. C.
- 1Akturk, Sait
- 1Hajebi, Kiana
- 1Hernandez Herdocia, Alejandro
- 1Jiang, Chen
- 1Johnstonbaugh, Kerrick
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Back2Future-SIM: Creating Real-Time Interactable Immersive Virtual World For Robot Teleoperation
DownloadSpring 2024
In the context of human-robot interaction (HRI), robot autonomy addresses how environmental input influences a robot’s actions, spanning a spectrum from full human control to independent robot motion. The quality of HRI relies on information exchange, evaluated through factors like interaction...
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Spring 2023
Choosing an appropriate action representation is an integral part of solving robotic manipulation problems. Published approaches include latent action models, which train context-conditioned neural networks to map lowdimensional latent actions to high-dimensional actuation commands. Such models...
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Spring 2023
Wheelchair-mounted robotic manipulators have the potential to help the elderly and individuals living with disabilities carry out their activities of daily living independently. While robotics researchers focus on assistive tasks from the perspective of various control schemes and motion types, ...
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Decision Frequency Adaptation in Reinforcement Learning Using Continuous Options with Open-Loop Policies
DownloadFall 2023
In classic reinforcement learning(RL) for continuous control, agents make decisions at discrete and fixed time intervals. The duration between decisions becomes a crucial hyperparameter. Setting it too short may increase the problem’s difficulty by requiring the agent to make numerous decisions...
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Fall 2021
In Activities of Daily Living (ADLs), humans perform thousands of arm and hand object manipulation tasks, such as picking, pouring and drinking a drink. Interpreting such tasks and grasping the underlying concepts of manipulation from vision is straightforward for humans, but difficult for...
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Highway Lane change under uncertainty with Deep Reinforcement Learning based motion planner
DownloadSpring 2020
Motion Planning is a fundamental component of a mobile robot to reach its goal safely avoiding collision. For a self-driving car on a highway, the presence of non-communicating vehicles, specially those whose intent is unknown, creates a lot of uncertainty for the motion planner in generating a...
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Pointing gestures for Cooperative Human-Robot Manipulation Tasks in Unstructured Environments
DownloadFall 2017
In recent years, robots have started to migrate from industrial to unstructured human environments, some examples include home robotics, search and rescue robotics, assistive robotics and service robotics. However, this migration has been at a slow pace and with only a few successes. One key...
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Spring 2016
When controlling dynamic systems such as robots a big challenge lies in defining how the desired actions will be accomplished. In industrial settings automation has been possible due to the structured and predictable environments. The repeatability of the tasks makes it viable to manually...
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Fall 2015
Simultaneous localization and mapping (SLAM) in an unknown environment is a prerequisite to have a truly autonomous mobile robot. In this thesis, we focus on appearance-based visual SLAM, for which we develop a graph-based nearest-neighbor search algorithm to speed up bag-of-words (BoW) image...
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Fall 2015
The control of powered prosthetic arms has been researched for over 50 years, yet prosthetic control remains an open problem, not just from a research perspective, but from a clinical perspective as well. Significant advances have been made in the manufacture of highly functional prosthetic...