Jonathan Kelly
University of Toronto
収録論文 79本 ・ フィジカルAI/ロボット学習
マニピュレーション
※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
- 接触モードは層である：離散連続計画における幾何構造の利点マニピュレーション2026/8/16
接触を伴う操作計画を、接触モードを配置空間の層として捉え、層上の測地線を辿る計画として解く手法を提案。シミュレーション上の2つのタスクで事前情報なしに高速に解を求めた。
- Lost in Time? Continuous Symmetry and Identifiability in Aided Inertial Navigation with Unknown Measurement Delays2026/7/1
- Exploring the Intrinsic Geometry of Diffusion Models with Constrained Inverse Kinematics2026/6/1
- On the Identifiability of Aided Inertial Navigation Under Measurement Delays: A Geometric Approach2026/6/1
- Direct Informed Sampling on Riemannian Manifolds via Loewner Order Lower Bounds2026/6/1
- REALM: An RGB- and Event-Aligned Latent Manifold for Cross-Modal Perception2026/5/1
- Geometry-Aware Sampling-Based Motion Planning on Riemannian Manifolds2026/2/1
- Galilean Symmetry in Robotics2025/10/1
- Generating Stable Placements via Physics-guided Diffusion Models2025/9/1
- VibES: Induced Vibration for Persistent Event-Based Sensing2025/8/1
- A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration2025/7/1
- Risk-Averse Traversal of Graphs with Stochastic and Correlated Edge Costs for Safe Global Planetary Mobility2025/5/1
- Structured Pneumatic Fingerpads for Actively Tunable Grip Friction2025/2/1
- Robustness Assessment of Assemblies in Frictional Contact2024/11/1
- Automated Planning Domain Inference for Task and Motion Planning2024/10/1
- Stable Object Placement Planning From Contact Point Robustness2024/10/1
- A Photorealistic Dataset and Vision-Based Algorithm for Anomaly Detection During Proximity Operations in Lunar Orbit2024/9/1
- FaVoR: Features via Voxel Rendering for Camera Relocalization2024/9/1
- The Importance of Adaptive Decision-Making for Autonomous Long-Range Planetary Surface Mobility2024/9/1
- Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems2024/9/1
- Efficient Imitation Without Demonstrations via Value-Penalized Auxiliary Control from Examples2024/7/1
- Greedy Heuristics for Sampling-Based Motion Planning in High-Dimensional State Spaces2024/5/1
- Automated Continuous Force-Torque Sensor Bias Estimation2024/3/1
- PhotoBot: Reference-Guided Interactive Photography via Natural Language2024/1/1
- Safe Mission-Level Path Planning for Exploration of Lunar Shadowed Regions by a Solar-Powered Rover2024/1/1
- Working Backwards: Learning to Place by Picking2023/12/1
- Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor2023/11/1
- Euclidean Equivariant Models for Generative Graphical Inverse Kinematics2023/7/1
- Recovery Policies for Safe Exploration of Lunar Permanently Shadowed Regions by a Solar-Powered Rover2023/7/1
- CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots2023/6/1
- aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System2023/5/1
- Extrinsic Calibration of 2D Millimetre-Wavelength Radar Pairs Using Ego-Velocity Estimates2023/2/1
- The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects2023/2/1
- Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks2023/1/1
- Spatiotemporal Calibration of 3D Millimetre-Wavelength Radar-Camera Pairs2022/11/1
- Generative Graphical Inverse Kinematics2022/9/1
- Learning Sequential Latent Variable Models from Multimodal Time Series Data2022/4/1
- A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry2022/3/1
- Fast Object Inertial Parameter Identification for Collaborative Robots2022/3/1
- Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network2022/2/1
- Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning2021/12/1
- Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art2021/9/1
- Convex Iteration for Distance-Geometric Inverse Kinematics2021/9/1
- Riemannian Optimization for Distance-Geometric Inverse Kinematics2021/8/1
- On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion2021/6/1
- A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems2021/6/1
- Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations2021/4/1
- A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots2021/3/1
- A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration2021/3/1
- Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors2021/3/1
- Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching2021/2/1
- Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion2020/11/1
- Towards a Policy-as-a-Service Framework to Enable Compliant, Trustworthy AI and HRI Systems in the Wild2020/10/1
- Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation2020/9/1
- Heteroscedastic Uncertainty for Robust Generative Latent Dynamics2020/8/1
- Fighting Failures with FIRE: Failure Identification to Reduce Expert Burden in Intervention-Based Learning2020/7/1
- Certifiably Optimal Monocular Hand-Eye Calibration2020/5/1
- Self-Supervised Deep Pose Corrections for Robust Visual Odometry2020/2/1
- Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation2019/10/1
- Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization2019/9/1
- Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization2019/8/1
- Learning Matchable Image Transformations for Long-term Metric Visual Localization2019/4/1
- Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network2019/4/1
- The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education2018/10/1
- Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion2018/9/1
- LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation2018/7/1
- Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection2018/6/1
- Overcoming the Challenges of Solar Rover Autonomy: Enabling Long-Duration Planetary Navigation2018/5/1
- Manipulability Maximization Using Continuous-Time Gaussian Processes2018/3/1
- Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction2018/3/1
- How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change2017/9/1
- PROBE-GK: Predictive Robust Estimation using Generalized Kernels2017/8/1
- PROBE: Predictive Robust Estimation for Visual-Inertial Navigation2017/8/1
- Monocular Visual Teach and Repeat Aided by Local Ground Planarity2017/7/1
- Entropy-Based $Sim(3)$ Calibration of 2D Lidars to Egomotion Sensors2017/7/1
- Cheap or Robust? The Practical Realization of Self-Driving Wheelchair Technology2017/7/1
- Improving Foot-Mounted Inertial Navigation Through Real-Time Motion Classification2017/7/1
- Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network2016/9/1
- Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation2016/9/1