Recent Publications
NTFields: Neural Time Fields for Physics-Informed Robot Motion Planning
Abstract— Unlike most neural motion planners, NTFields require no expert trajectories for training and instead directly learn to solve Eikonal PDE.
ICLR'23 [SPOTLIGHT]CoGrasp: 6-DoF Grasp Generation for Human-Robot Collaboration
Abstract— Robot grasp generation contextualizes human social preferences of interacting with daily-life objects for human-robot collaboration.
ICRA'23Model-free Neural Lyapunov Control for Safe Robot Navigation
Abstract— Co-learning a Twin Neural Lyapunov Function and Deep Reinforcement Learning control policy for locomotion tasks.
IROS'22NeRP: Neural Rearrangement Planning for Unknown Objects
Abstract— NeRP is a learning-based approach for multi-step neural object rearrangement planning with never-before-seen objects in the real world.
RSS'21Constrained Motion Planning Networks X
Abstract— CoMPNetX is a neural planning approach with a fast projection operator for solving constrained manipulation tasks.
TRO'21