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Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces

Related publications (45)

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Distributed Inference over Multitask Graphs under Smoothness

Ali H. Sayed, Stefan Vlaski, Roula Nassif

This paper formulates a multitask optimization problem where agents in the network have individual objectives to meet, or individual parameter vectors to estimate, subject to a smoothness condition over the graph. The smoothness requirement softens the tra ...

IEEE2018

Graph-based structures in data science

Nathanaël Perraudin

State-of-the-art data analysis tools have to deal with high-dimensional data. Fortunately, the inherent dimensionality of data is often much smaller, as it has an internal structure limiting its degrees of freedom. In most cases, this structure can be appr ...

EPFL2017

Graph Signal Processing

Ntorina Thanou

Over the past few decades we have been experiencing an explosion of information generated by large networks of sensors and other data sources. Much of this data is intrinsically structured, such as traffic evolution in a transportation network, temperature ...

EPFL2016

From data to structures

Vasilis Kalofolias

Weighted undirected graphs are a simple, yet powerful way to encode structure in data. A first question we need to address regarding such graphs is how to use them effectively to enhance machine learning problems. A second but more important question is ho ...

EPFL2016

Distributed Graph-Based Control of Convoys of Heterogeneous Vehicles using Curvilinear Road Coordinates

Alcherio Martinoli, Milos Vasic, Inaki Navarro Oiza, Florian Zimmermann

This paper investigates the problem of controlling a heterogeneous group of vehicles with the aim of forming multi-lane convoys. We use a distributed, graph-based control law, implemented in a longitudinal coordinate system parallel to the road. Each vehic ...

Ieee2016

Motion Planning for Urban Autonomous Driving using Bezier Curves and MPC

Inaki Navarro Oiza, Arnaud de La Fortelle

This paper presents a real-time motion planning scheme for urban autonomous driving that will be deployed as a basis for cooperative maneuvers defined in the European project AutoNet2030. We use a path-velocity decomposition approach to separate the motion ...

Ieee2016

Graph-based denoising for time-varying point clouds

Pierre Vandergheynst, Johann Paratte, Yann Mikaël Schoenenberger

Noisy 3D point clouds arise in many applications. They may be due to errors when creating a 3D model from images or simply to imprecise depth sensors. Point clouds can be given geometrical structure using graphs created from the similarity information betw ...

2015

Learning of Grasp Adaptation through Experience and Tactile Sensing

Aude Billard, Miao Li

To perform robust grasping, a multi-fingered robotic hand should be able to adapt its grasping configuration, i.e., how the object is grasped, to maintain the stability of the grasp. Such a change of grasp configuration is called grasp adaptation and it de ...

2014

Learning of Grasp Adaptation through Experience and Tactile Sensing

Aude Billard, Miao Li

Ieee2014

Active Testing Search for Point Cloud Matching

Pascal Fua, Raphael Sznitman, Jan Kybic, Miguel Amável Dos Santos Pinheiro

We present a general approach for solving the point-cloud matching problem for the case of mildly nonlinear transformations. Our method quickly finds a coarse approximation of the solution by exploring a reduced set of partial matches using an approach to ...

2013