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Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System


Nov 20, 2020
Junhyeok Ahn, Luis Sentis

* Submitted to 2021 L4DC 

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Task-Adaptive Robot Learning from Demonstration under Replication with Gaussian Process Models


Oct 15, 2020
Miguel Arduengo, Adrià Colomé, Júlia Borràs, Luis Sentis, Carme Torras

* 8 pages, 9 figures 

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A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control


Sep 25, 2020
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis

* 10 pages, 7 figures, 4 tables. arXiv admin note: text overlap with arXiv:1903.00704 

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MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks


Sep 13, 2020
Jaemin Lee, Seung Hyeon Bang, Efstathios Bakolas, Luis Sentis

* 8 pages, 5 figures 

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BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning


Sep 05, 2020
Binghan He, Jaemin Lee, Ufuk Topcu, Luis Sentis

* 6 pages, 5 figures. Accepted for publication in IEEE Conference on Decision and Control (CDC) copyright 2020 IEEE 

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Gaussian-Process-based Robot Learning from Demonstration


Feb 23, 2020
Miguel Arduengo, Adrià Colomé, Joan Lobo-Prat, Luis Sentis, Carme Torras

* 7 pages, 10 figures 

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Active Object Tracking using Context Estimation: Handling Occlusions and Detecting Missing Targets


Dec 14, 2019
Minkyu Kim, Luis Sentis

* 11 pages, 8 figures 

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Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary


Oct 02, 2019
Steven Jens Jorgensen, Michael W. Lanighan, Sylvain S. Bertrand, Andrew Watson, Joseph S. Altemus, R. Scott Askew, Lyndon Bridgwater, Beau Domingue, Charlie Kendrick, Jason Lee, Mark Paterson, Jairo Sanchez, Patrick Beeson, Seth Gee, Stephen Hart, Ana Huaman Quispe, Robert Griffin, Inho Lee, Stephen McCrory, Luis Sentis, Jerry Pratt, Joshua S. Mehling

* 2019 IEEE-RAS International Conference on Humanoid Robots 

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Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold


Sep 22, 2019
Steven Jens Jorgensen, Mihir Vedantam, Ryan Gupta, Henry Cappel, Luis Sentis

* 7 pages, 3 figures 

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Solving Service Robot Tasks: UT Austin [email protected] 2019 Team Report


Sep 14, 2019
Rishi Shah, Yuqian Jiang, Haresh Karnan, Gilberto Briscoe-Martinez, Dominick Mulder, Ryan Gupta, Rachel Schlossman, Marika Murphy, Justin W. Hart, Luis Sentis, Peter Stone


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Data Efficient and Safe Learning for Locomotion via Simplified Model


Jun 10, 2019
Junhyeok Ahn, Jaemin Lee, Luis Sentis

* 8 pages, 4 figures, 

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Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators


Jun 10, 2019
Junhyeok Ahn, Donghyun Kim, SeungHyeon Bang, Nick Paine, Luis Sentis

* 8 pages, 8 figures 

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Decentralized Control Systems Laboratory Using Human Centered Robotic Actuators


Apr 09, 2019
Binghan He, Kunye Chen, Rachel Schlossman, Neal Ormsbee, Mara Altman, Nathan Young, Matt Mangum, Luis Sentis


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Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces


Mar 26, 2019
Jaemin Lee, Efstathios Bakolas, Luis Sentis

* 12 pages, 5 figures 

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Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs


Mar 22, 2019
Gray Cortright Thomas, Jeremiah M. Coholich, Luis Sentis

* 8 pages, 9 figures, conference 

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Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons


Mar 06, 2019
Binghan He, Huang Huang, Gray C. Thomas, Luis Sentis


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Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions


Mar 04, 2019
Rachel Schlossman, Minkyu Kim, Ufuk Topcu, Luis Sentis


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A Versatile Framework for Robust and Adaptive Door Operation with a Mobile Manipulator Robot


Feb 25, 2019
Miguel Arduengo, Carme Torras, Luis Sentis


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Thermal Recovery of Multi-Limbed Robots with Electric Actuators


Feb 04, 2019
Steven Jens Jorgensen, James Holley, Frank Mathis, Joshua S. Mehling, Luis Sentis

* 8 pages, 7 figures, Published to IEEE Robotics and Automation Letters on January 18, 2019 

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Robot Economy: Ready or Not, Here It Comes


Jan 20, 2019
Miguel Arduengo, Luis Sentis


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Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation


Nov 27, 2018
Ye Zhao, Luis Sentis

* 24 pages, 16 figures. arXiv admin note: text overlap with arXiv:1501.02854 

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Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments


Nov 11, 2018
Ye Zhao, Yinan Li, Luis Sentis, Ufuk Topcu, Jun Liu

* 47 pages, 23 figures, 1 table 

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LAAIR: A Layered Architecture for Autonomous Interactive Robots


Nov 09, 2018
Yuqian Jiang, Nick Walker, Minkyu Kim, Nicolas Brissonneau, Daniel S. Brown, Justin W. Hart, Scott Niekum, Luis Sentis, Peter Stone

* Presented at LTA AAAI-FSS, 2018 

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Trajectory Generation for Robotic Systems with Contact Force Constraints


Sep 27, 2018
Jaemin Lee, Efstathios Bakolas, Luis Sentis

* 8 pages, 6 figures 

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An Architecture for Person-Following using Active Target Search


Sep 24, 2018
Minkyu Kim, Miguel Arduengo, Nick Walker, Yuqian Jiang, Justin W. Hart, Peter Stone, Luis Sentis

* 7 pages, 6 figures 

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Social Navigation Planning Based on People's Awareness of Robots


Sep 24, 2018
Minkyu Kim, Jaemin Lee, Steven Jens Jorgensen, Luis Sentis

* 8pages, 7 figures 

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Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach


Sep 24, 2018
Steven Jens Jorgensen, Orion Campbell, Travis Llado, Jaemin Lee, Brandon Shang, Luis Sentis

* 7 pages, 5 figures, 1 algorithm 

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Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming


Jul 17, 2018
Rachel Schlossman, Gray C. Thomas, Orion Campbell, Luis Sentis


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Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles


Jul 09, 2018
Junhyeok Ahn, Orion Campbell, Donghyun Kim, Luis Sentis

* 8 pages, 6 figures, Accepted in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018 

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