Zachary Brei — accepted AI-conference papers

2024

Differentiable Discrete Elastic Rods for Real-Time Modeling of Deformable Linear Objects

Yizhou Chen, Yiting Zhang, Zachary Brei, Tiancheng Zhang, Yuzhen Chen, Julie Wu +1

CoRL 2024poster

This paper addresses the task of modeling Deformable Linear Objects (DLOs), such as ropes and cables, during dynamic motion over long time horizons. This task presents significant challenges due to the complex dynamics of DLOs. To address these challenges, this paper proposes differentiable Discrete…

Cited by 4 Source ↗code ↗Scholar ↗

2024

Serving Time: Real-Time, Safe Motion Planning and Control for Manipulation of Unsecured Objects

Zachary Brei, Jonathan B. Michaux, Bohao Zhang, Patrick D. Holmes, Ram Vasudevan

RA-L 2024

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion planning and control methods, for instance, must be able to cer

Cited by 11 Source ↗code ↗Scholar ↗