Picture for Changkyu Song

Changkyu Song

A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

Aug 05, 2020
Changkyu Song, Abdeslam Boularias

Figure 1 for A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

Figure 2 for A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

Figure 3 for A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

Figure 4 for A Probabilistic Model for Planar Sliding of Objects with Unknown Material Properties: Identification and Robust Planning

* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)

Access Paper or Ask Questions

Learning to Slide Unknown Objects with Differentiable Physics Simulations

Jun 04, 2020
Changkyu Song, Abdeslam Boularias

Figure 1 for Learning to Slide Unknown Objects with Differentiable Physics Simulations

Figure 2 for Learning to Slide Unknown Objects with Differentiable Physics Simulations

Figure 3 for Learning to Slide Unknown Objects with Differentiable Physics Simulations

Figure 4 for Learning to Slide Unknown Objects with Differentiable Physics Simulations

* to be published in Robotics: Science and Systems, July 12-16, 2020

Access Paper or Ask Questions

Identifying Mechanical Models through Differentiable Simulations

May 11, 2020
Changkyu Song, Abdeslam Boularias

Figure 1 for Identifying Mechanical Models through Differentiable Simulations

Figure 2 for Identifying Mechanical Models through Differentiable Simulations

Figure 3 for Identifying Mechanical Models through Differentiable Simulations

Figure 4 for Identifying Mechanical Models through Differentiable Simulations

* to be published in Learning for DynamIcs & Control (L4DC), June 10-11th, 2020

Access Paper or Ask Questions

Object Rearrangement with Nested Nonprehensile Manipulation Actions

May 17, 2019
Changkyu Song, Abdeslam Boularias

Figure 1 for Object Rearrangement with Nested Nonprehensile Manipulation Actions

Figure 2 for Object Rearrangement with Nested Nonprehensile Manipulation Actions

Figure 3 for Object Rearrangement with Nested Nonprehensile Manipulation Actions

Figure 4 for Object Rearrangement with Nested Nonprehensile Manipulation Actions

Access Paper or Ask Questions

Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning

Mar 13, 2019
Changkyu Song, Abdeslam Boularias

Figure 1 for Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning

Figure 2 for Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning

Figure 3 for Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning

Figure 4 for Inferring 3D Shapes of Unknown Rigid Objects in Clutter through Inverse Physics Reasoning

* The IEEE Robotics and Automation Letters (RA-L) with the IEEE International Conference on Robotics and Automation (ICRA 2019)

Access Paper or Ask Questions

Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty

Jun 30, 2015
Changkyu Song, Sejong Yoon, Vladimir Pavlovic

Figure 1 for Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty

Figure 2 for Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty

Figure 3 for Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty

Figure 4 for Fast ADMM Algorithm for Distributed Optimization with Adaptive Penalty

* 8 pages manuscript, 2 pages appendix, 5 figures

Access Paper or Ask Questions