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Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance


Mar 30, 2022
James Guthrie, Marin Kobilarov, Enrique Mallada

* 8 pages, 6 figures. Accepted for publication at the 2022 American Control Conference 

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Learn Proportional Derivative Controllable Latent Space from Pixels


Oct 15, 2021
Weiyao Wang, Marin Kobilarov, Gregory D. Hager


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Autonomously Navigating a Surgical Tool Inside the Eye by Learning from Demonstration


Nov 16, 2020
Ji Woong Kim, Changyan He, Muller Urias, Peter Gehlbach, Gregory D. Hager, Iulian Iordachita, Marin Kobilarov

* Accepted to ICRA 2020 

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Towards Autonomous Eye Surgery by Combining Deep Imitation Learning with Optimal Control


Nov 16, 2020
Ji Woong Kim, Peiyao Zhang, Peter Gehlbach, Iulian Iordachita, Marin Kobilarov

* Accepted to Conference on Robot Learning (CoRL) 2020 

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Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback


Jan 10, 2019
Ali Ebrahimi, Changyan He, Niravkumar Patel, Marin Kobilarov, Peter Gehlbach, Iulian Iordachita

* Conference paper accepted for International Symposium on Medical Robotics (ISMR) 2019, 7 pages (6 pages manuscript and 1 page reference), 7 figures, 1 table 

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Combining Neural Networks and Tree Search for Task and Motion Planning in Challenging Environments


Mar 22, 2017
Chris Paxton, Vasumathi Raman, Gregory D. Hager, Marin Kobilarov

* 8 pgs, currently in peer review. Video: https://youtu.be/MM2U_SGMtk8 

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Do What I Want, Not What I Did: Imitation of Skills by Planning Sequences of Actions


Dec 05, 2016
Chris Paxton, Felix Jonathan, Marin Kobilarov, Gregory D Hager

* 8 pages, published at IROS 2016 

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Towards Robot Task Planning From Probabilistic Models of Human Skills


Feb 15, 2016
Chris Paxton, Marin Kobilarov, Gregory D. Hager

* 8 pages, presented at AAAI 2016 PlanHS workshop 

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