Martin Levihn — accepted AI-conference papers

2016

Navigation Among Movable Obstacles with learned dynamic constraints

Jonathan Scholz, Nehchal Jindal, Martin Levihn, Charles L. Isbell, Henrik I. Christensen

IROS 2016poster

In this paper we present the first planner for the problem of Navigation Among Movable Obstacles (NAMO) on a real robot that can handle environments with under-specified object dynamics. This result makes use of recent progress from two threads of the Reinforcement Learning literature. The first is…

Cited by 25 Source ↗Scholar ↗

2015

Learning non-holonomic object models for mobile manipulation

Jonathan Scholz, Martin Levihn, Charles L. Isbell, Henrik Christensen, Mike Stilman

ICRA 2015poster

For a mobile manipulator to interact with large everyday objects, such as office tables, it is often important to have dynamic models of these objects. However, as it is infeasible to provide the robot with models for every possible object it may encounter, it is desirable that the robot can identif…

Cited by 16 Source ↗Scholar ↗