Luis Sentis

収録論文 72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

• 自己衝突回避を考慮した狭所移動ヒューマノイドの全身動作計画
  ヒューマノイド/動作計画2026/8/10

  狭い環境でのヒューマノイド移動のため、到達可能な剛体ボリューム上で経路計画を行い、衝突回避を組み込んだ3段階の全身計画フレームワークを提案。生成した計画を残差強化学習で追従し、Unitree G1で検証した。

• Whole-Body Planning for Humanoids Navigating Confined Spaces via Self-Collision Avoidance References
  2026/8/1
• AeroMap3D: Anchoring Monocular UAV 6-DoF Localization to Visual-Geometric-Semantic Map Priors
  2026/7/1
• Too Much of a Good Thing: When sim2real Efforts Impede Policy Learning (And What to Do About It)
  2026/6/1
• A Bilateral Teleoperation Framework for Dexterous Manipulation
  2026/6/1
• ARISTO Hand: Sensing-Driven Distal Hyperextension for Fine-Grained Manipulation
  2026/5/1
• Why Cognitive Robotics Matters: Lessons from OntoAgent and LLM Deployment in HARMONIC for Safety-Critical Robot Teaming
  2026/3/1
• PLATO Hand: Shaping Contact Behavior with Fingernails for Precise Manipulation
  2026/2/1
• HARMONIC: A Content-Centric Cognitive Robotic Architecture
  2025/9/1
• Curate, Connect, Inquire: A System for Findable Accessible Interoperable and Reusable (FAIR) Human-Robot Centered Datasets
  2025/6/1
• Task Hierarchical Control via Null-Space Projection and Path Integral Approach
  2025/3/1
• LEGATO: Cross-Embodiment Imitation Using a Grasping Tool
  2024/11/1
• Guiding Collision-Free Humanoid Multi-Contact Locomotion using Convex Kinematic Relaxations and Dynamic Optimization
  2024/10/1
• RPC: A Modular Framework for Robot Planning, Control, and Deployment
  2024/9/1
• Hardware-Accelerated Ray Tracing for Discrete and Continuous Collision Detection on GPUs
  2024/9/1
• HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams
  2024/9/1
• Grasp Failure Constraints for Fast and Reliable Pick-and-Place Using Multi-Suction-Cup Grippers
  2024/8/1
• Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers
  2024/7/1
• RL-augmented MPC Framework for Agile and Robust Bipedal Footstep Locomotion Planning and Control
  2024/7/1
• On the Performance of Jerk-Constrained Time-Optimal Trajectory Planning for Industrial Manipulators
  2024/4/1
• Human Stress Response and Perceived Safety during Encounters with Quadruped Robots
  2024/3/1
• LIVE: Lidar Informed Visual Search for Multiple Objects with Multiple Robots
  2023/10/1
• Fast LiDAR Informed Visual Search in Unseen Indoor Environments
  2023/9/1
• Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
  2023/9/1
• Learning Contact-based Navigation in Crowds
  2023/3/1
• Sample Efficient Dynamics Learning for Symmetrical Legged Robots:Leveraging Physics Invariance and Geometric Symmetries
  2022/10/1
• Control and Evaluation of a Humanoid Robot with Rolling Contact Knees
  2022/10/1
• Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments
  2022/9/1
• Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
  2022/9/1
• KC-TSS: An Algorithm for Heterogeneous Robot Teams Performing Resilient Target Search
  2022/3/1
• Data-Driven Safety Verification for Legged Robots
  2022/2/1
• A Barrier Pair Method for Safe Human-Robot Shared Autonomy
  2021/12/1
• Information-Theoretic Based Target Search with Multiple Agents
  2021/7/1
• Nested Mixture of Experts: Cooperative and Competitive Learning of Hybrid Dynamical System
  2020/11/1
• Task-Adaptive Robot Learning from Demonstration with Gaussian Process Models under Replication
  2020/10/1
• A Complex Stiffness Human Impedance Model with Customizable Exoskeleton Control
  2020/9/1
• MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
  2020/9/1
• BP-RRT: Barrier Pair Synthesis for Temporal Logic Motion Planning
  2020/9/1
• Gaussian-Process-based Robot Learning from Demonstration
  2020/2/1
• Active Object Tracking using Context Estimation: Handling Occlusions and Detecting Missing Targets
  2019/12/1
• Deploying the NASA Valkyrie Humanoid for IED Response: An Initial Approach and Evaluation Summary
  2019/10/1
• Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold
  2019/9/1
• Solving Service Robot Tasks: UT Austin Villa@Home 2019 Team Report
  2019/9/1
• Data-Efficient and Safe Learning for Humanoid Locomotion Aided by a Dynamic Balancing Model
  2019/6/1
• Control of A High Performance Bipedal Robot using Viscoelastic Liquid Cooled Actuators
  2019/6/1
• Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs
  2019/3/1
• Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
  2019/3/1
• Toward Achieving Formal Guarantees for Human-Aware Controllers in Human-Robot Interactions
  2019/3/1
• Complex Stiffness Model of Physical Human-Robot Interaction: Implications for Control of Performance Augmentation Exoskeletons
  2019/3/1
• Robust and Adaptive Door Operation with a Mobile Robot
  2019/2/1
• Thermal Recovery of Multi-Limbed Robots with Electric Actuators
  2019/2/1
• The Robot Economy: Here It Comes
  2018/12/1
• Distributed Impedance Control of Latency-Prone Robotic Systems with Series Elastic Actuation
  2018/11/1
• Reactive Task and Motion Planning for Robust Whole-Body Dynamic Locomotion in Constrained Environments
  2018/11/1
• LAAIR: A Layered Architecture for Autonomous Interactive Robots
  2018/11/1
• Trajectory Generation for Robotic Systems with Contact Force Constraints
  2018/9/1
• Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach
  2018/9/1
• An Architecture for Person-Following using Active Target Search
  2018/9/1
• Social Navigation Planning Based on People's Awareness of Robots
  2018/9/1
• Computationally-Robust and Efficient Prioritized Whole-Body Controller with Contact Constraints
  2018/7/1
• Fast Kinodynamic Bipedal Locomotion Planning with Moving Obstacles
  2018/7/1
• On Blocking Collisions between People, Objects and other Robots
  2018/3/1
• Decentralized Control Systems Laboratory Using Human Centered Robotic Actuators
  2018/3/1
• Exploiting the Natural Dynamics of Series Elastic Robots by Actuator-Centered Sequential Linear Programming
  2018/2/1
• Robust Optimal Planning and Control of Non-Periodic Bipedal Locomotion with A Centroidal Momentum Model
  2017/8/1
• Robust Dynamic Locomotion via Reinforcement Learning and Novel Whole Body Controller
  2017/8/1
• Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems
  2017/1/1
• Web Based Teleoperation of a Humanoid Robot
  2016/7/1
• A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion
  2015/11/1
• Stability and Performance Limits of Latency-Prone Distributed Feedback Controllers
  2015/1/1
• Assessing Whole-Body Operational Space Control in a Point-Foot Series Elastic Biped: Balance on Split Terrain and Undirected Walking
  2015/1/1
• Full-Body Collision Detection and Reaction with Omnidirectional Mobile Platforms: A Step Towards Safe Human-Robot Interaction
  2015/1/1