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Category-Independent Articulated Object Tracking with Factor Graphs



Nick Heppert , Toki Migimatsu , Brent Yi , Claire Chen , Jeannette Bohg

* 10 pages, 10 figures 

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Incremental Learning of Structured Memory via Closed-Loop Transcription



Shengbang Tong , Xili Dai , Ziyang Wu , Mingyang Li , Brent Yi , Yi Ma

* 13 pages 

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Differentiable Factor Graph Optimization for Learning Smoothers



Brent Yi , Michelle A. Lee , Alina Kloss , Roberto Martín-Martín , Jeannette Bohg


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Multimodal Sensor Fusion with Differentiable Filters



Michelle A. Lee , Brent Yi , Roberto Martín-Martín , Silvio Savarese , Jeannette Bohg

* Published in IROS 2020. Updated sponsors 

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Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation



David V. Gealy , Stephen McKinley , Brent Yi , Philipp Wu , Phillip R. Downey , Greg Balke , Allan Zhao , Menglong Guo , Rachel Thomasson , Anthony Sinclair , Peter Cuellar , Zoe McCarthy , Pieter Abbeel

* This is our long version - 8 pages. Our 6 page version without a discussion of thermal limits was accepted to ICRA 2019. 11 Figures 

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