4 accepted papers
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics of the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional continuous state spaces and under differential constraints. However, long time
Lazy search algorithms have been developed to efficiently solve planning problems in domains where the computational effort is dominated by the cost of edge evaluation. The existing algorithms operate by intelligently balancing computational effort between searching the graph and evaluating edges. H
Zero-shot execution of unseen robotic tasks is important to allowing robots to perform a wide variety of tasks in human environments, but collecting the amounts of data necessary to train end-to-end policies in the real-world is often infeasible. We describe an approach for sim-to-real training that…
In this paper we describe work towards retinal vessel cannulation using an actively stabilized handheld robot, guided by monocular vision. We employ a previously developed monocular camera based surface reconstruction method using automated laser beam scanning over the retina. We use the reconstruct…