Publication

Reactive collision-free motion generation in joint space via dynamical systems and sampling-based MPC

Publications associées (49)

Graph Chatbot

Chattez avec Graph Search

Posez n’importe quelle question sur les cours, conférences, exercices, recherches, actualités, etc. de l’EPFL ou essayez les exemples de questions ci-dessous.

AVERTISSEMENT : Le chatbot Graph n'est pas programmé pour fournir des réponses explicites ou catégoriques à vos questions. Il transforme plutôt vos questions en demandes API qui sont distribuées aux différents services informatiques officiellement administrés par l'EPFL. Son but est uniquement de collecter et de recommander des références pertinentes à des contenus que vous pouvez explorer pour vous aider à répondre à vos questions.

Connectez-vous pour utiliser Chat avec Graph Search

From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems

Nadia Barbara Figueroa Fernandez

Humans have a remarkable way of learning, adapting and mastering new manipulation tasks. With the current advances in Machine Learning (ML), the promise of having robots with such capabilities seems to be on the cusp of reality. Transferring human-level sk ...

EPFL2019

Geometric Model Order Reduction

Babak Maboudi Afkham

During the past decade, model order reduction (MOR) has been successfully applied to reduce the computational complexity of elliptic and parabolic systems of partial differential equations (PDEs). However, MOR of hyperbolic equations remains a challenge. S ...

EPFL2018

Learning Augmented Joint-Space Task-Oriented Dynamical Systems:A Linear Parameter Varying and Synergetic Control Approach

Aude Billard, Nadia Barbara Figueroa Fernandez, Seyed Sina Mirrazavi Salehian, Yonadav Goldwasser Shavit

In this paper, we propose an asymptotically stable joint-space dynamical system that captures desired behaviors in joint-space while stably converging towards a task-space attractor. To encode joint-space behaviors while meeting the stability criteria, the ...

2018

In this work, we introduce a novel Dynamical System (DS)-based approach for modeling complex and compliant manipulation tasks, that are composed of a sequence of action phases with different compliance requirements; i.e. impedance primitives. We adopt a cl ...

2018

, ,

The problem of control synthesis to maximize the probability of satisfying automata specifications for systems with uncertainty is addressed. Two types of uncertainty are considered; stochasticity in the dynamical system and in the sets defining the specif ...

2017

Learning Externally Modulated Dynamical Systems

Aude Billard, Nicolas Sommer, Klas Jonas Alfred Kronander

Dynamical Systems (DS) are often used to represent motion, with the advantage of being easy to learn from demonstrations. We present a method to modulate DS depending on an external signal, extending our previous work on Locally Modulated DS (LMDS, Kronand ...

2017

, , , ,

Mining useful clusters from high dimensional data has received significant attention of the computer vision and pattern recognition community in the recent years. Linear and non-linear dimensionality reduction has played an important role to overcome the c ...

Ieee-Inst Electrical Electronics Engineers Inc2016

, ,

Although stochastic programming problems were always believed to be computationally challenging, this perception has only recently received a theoretical justification by the seminal work of Dyer and Stougie (Mathematical Programming A, 106(3):423–432, 200 ...

Springer Heidelberg2016

, ,

We propose to approximate two-stage distributionally robust programs with binary recourse decisions by their associated K-adaptability problems, which pre-select K candidate second-stage policies here-and-now and implement the best of these policies once t ...

Elsevier Science Bv2016

Many natural and man-made signals can be described as having a few degrees of freedom relative to their size due to natural parameterizations or constraints; examples include bandlimited signals, collections of signals observed from multiple viewpoints in ...

EPFL2014