John Leichty — accepted AI-conference papers

2023

Demonstrating Mobile Manipulation in the Wild: A Metrics-Driven Approach

Max Bajracharya, James Borders, Richard Cheng, Dan Helmick, Lukas Kaul, Dan Kruse +8

RSS 2023poster

We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a grocery shopping scenario in an actual, unmodified grocery store.…

Cited by 24 Source ↗PDF ↗code ↗Scholar ↗

2020

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes

Max Bajracharya, James Borders, Dan Helmick, Thomas Kollar, Michael Laskey, John Leichty +7

ICRA 2020poster

We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is enabled by a highly capable mobile manipulation robot, whole-bo…

Cited by 36 Source ↗Scholar ↗