Joel W. Burdick

収録論文 49本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 接触を狙う：動的モーションリターゲティングのための接触暗黙的多重シューティング法
  モーションリターゲティング2026/8/4

  動的に実現可能な全身軌道を生成するため、微分可能なシミュレータを非線形計画法に組み込み、接触や摩擦などを内部で解決する新しいリターゲティング手法を提案。強化学習の訓練を加速し、実機でのゼロショット転送も実証した。

• Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
  2026/8/1
• D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
  2026/7/1
• Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
  2026/4/1
• KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
  2025/12/1
• Real-Time Learning of Predictive Dynamic Obstacle Models for Robotic Motion Planning
  2025/11/1
• Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
  2025/10/1
• Safe Payload Transfer with Ship-Mounted Cranes: A Robust Model Predictive Control Approach
  2025/10/1
• Safe Navigation under State Uncertainty: Online Adaptation for Robust Control Barrier Functions
  2025/8/1
• AI Space Cortex: An Experimental System for Future Era Space Exploration
  2025/7/1
• Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
  2025/2/1
• Zero-Order Control Barrier Functions for Sampled-Data Systems with State and Input Dependent Safety Constraints
  2024/11/1
• Equality Constrained Diffusion for Direct Trajectory Optimization
  2024/10/1
• Bayesian Optimal Experimental Design for Robot Kinematic Calibration
  2024/9/1
• Risk-Aware Robotics: Tail Risk Measures in Planning, Control, and Verification
  2024/3/1
• Rollover Prevention for Mobile Robots with Control Barrier Functions: Differentiator-Based Adaptation and Projection-to-State Safety
  2024/3/1
• A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach
  2024/3/1
• Robust Control Barrier Functions using Uncertainty Estimation with Application to Mobile Robots
  2024/1/1
• A Learning-Based Framework for Safe Human-Robot Collaboration with Multiple Backup Control Barrier Functions
  2023/10/1
• The Fractal Hand-II: Reviving a Classic Mechanism for Contemporary Grasping Challenges
  2023/9/1
• An Active Learning Based Robot Kinematic Calibration Framework Using Gaussian Processes
  2023/3/1
• STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge
  2023/3/1
• FRoGGeR: Fast Robust Grasp Generation via the Min-Weight Metric
  2023/2/1
• Adaptive Conformal Prediction for Motion Planning among Dynamic Agents
  2022/12/1
• Learning Disturbances Online for Risk-Aware Control: Risk-Aware Flight with Less Than One Minute of Data
  2022/12/1
• Risk-Averse Receding Horizon Motion Planning for Obstacle Avoidance using Coherent Risk Measures
  2022/4/1
• Distributionally Robust Model Predictive Control with Total Variation Distance
  2022/3/1
• Moving Obstacle Avoidance: a Data-Driven Risk-Aware Approach
  2022/3/1
• Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries
  2021/10/1
• Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems
  2021/5/1
• Limits of Probabilistic Safety Guarantees when Considering Human Uncertainty
  2021/3/1
• Learning Invariant Representation of Tasks for Robust Surgical State Estimation
  2021/2/1
• Risk-Sensitive Motion Planning using Entropic Value-at-Risk
  2020/11/1
• ROIAL: Region of Interest Active Learning for Characterizing Exoskeleton Gait Preference Landscapes
  2020/11/1
• daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery
  2020/9/1
• Safe Multi-Agent Interaction through Robust Control Barrier Functions with Learned Uncertainties
  2020/4/1
• Human Preference-Based Learning for High-dimensional Optimization of Exoskeleton Walking Gaits
  2020/3/1
• Barrier Functions for Multiagent-POMDPs with DTL Specifications
  2020/3/1
• Temporal Segmentation of Surgical Sub-tasks through Deep Learning with Multiple Data Sources
  2020/2/1
• Stochastic Finite State Control of POMDPs with LTL Specifications
  2020/1/1
• Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion
  2019/9/1
• Safe Policy Synthesis in Multi-Agent POMDPs via Discrete-Time Barrier Functions
  2019/3/1
• A Function Approximation Method for Model-based High-Dimensional Inverse Reinforcement Learning
  2017/8/1
• Online Inverse Reinforcement Learning via Bellman Gradient Iteration
  2017/7/1
• Inverse Reinforcement Learning in Large State Spaces via Function Approximation
  2017/7/1
• Clinical Patient Tracking in the Presence of Transient and Permanent Occlusions via Geodesic Feature
  2017/7/1
• Bellman Gradient Iteration for Inverse Reinforcement Learning
  2017/7/1
• Convex Model Predictive Control for Vehicular Systems
  2014/10/1
• Optimal Navigation Functions for Nonlinear Stochastic Systems
  2014/9/1