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Sethu Vijayakumar

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OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control

Jan 31, 2023
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi, Sethu Vijayakumar, Tom Vercauteren, Christos Bergeles

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ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction

Oct 13, 2022
Christopher E. Mower, Theodoros Stouraitis, João Moura, Christian Rauch, Lei Yan, Nazanin Zamani Behabadi, Michael Gienger, Tom Vercauteren, Christos Bergeles, Sethu Vijayakumar

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Inverse-Dynamics MPC via Nullspace Resolution

Sep 12, 2022
Carlos Mastalli, Saroj Prasad Chhatoi, Thomas Corbères, Steve Tonneau, Sethu Vijayakumar

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Differentiable Optimal Control via Differential Dynamic Programming

Sep 02, 2022
Traiko Dinev, Carlos Mastalli, Vladimir Ivan, Steve Tonneau, Sethu Vijayakumar

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Sparse-Dense Motion Modelling and Tracking for Manipulation without Prior Object Models

Apr 25, 2022
Christian Rauch, Ran Long, Vladimir Ivan, Sethu Vijayakumar

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Agile Maneuvers in Legged Robots: a Predictive Control Approach

Mar 14, 2022
Carlos Mastalli, Wolfgang Merkt, Guiyang Xin, Jaehyun Shim, Michael Mistry, Ioannis Havoutis, Sethu Vijayakumar

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RGB-D SLAM in Indoor Planar Environments with Multiple Large Dynamic Objects

Mar 06, 2022
Ran Long, Christian Rauch, Tianwei Zhang, Vladimir Ivan, Tin Lun Lam, Sethu Vijayakumar

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RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

Mar 02, 2022
Henrique Ferrolho, Vladimir Ivan, Wolfgang Merkt, Ioannis Havoutis, Sethu Vijayakumar

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Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty

Oct 18, 2021
Shen Li, Theodoros Stouraitis, Michael Gienger, Sethu Vijayakumar, Julie A. Shah

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Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Sep 27, 2021
João Moura, Theodoros Stouraitis, Sethu Vijayakumar

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