no code implementations • 9 Apr 2024 • Kaylee Burns, Ajinkya Jain, Keegan Go, Fei Xia, Michael Stark, Stefan Schaal, Karol Hausman
Large Language Models (LLMs) have been successful at generating robot policy code, but so far these results have been limited to high-level tasks that do not require precise movement.
1 code implementation • 12 Aug 2021 • Ajinkya Jain, Stephen Giguere, Rudolf Lioutikov, Scott Niekum
Our core contributions include a novel representation for distributions over rigid body transformations and articulation model parameters based on screw theory, von Mises-Fisher distributions, and Stiefel manifolds.
1 code implementation • 24 Aug 2020 • Ajinkya Jain, Rudolf Lioutikov, Caleb Chuck, Scott Niekum
Robots in human environments will need to interact with a wide variety of articulated objects such as cabinets, drawers, and dishwashers while assisting humans in performing day-to-day tasks.
1 code implementation • 12 Feb 2018 • Ajinkya Jain, Scott Niekum
This hierarchical planning approach results in a decomposition of the POMDP planning problem into smaller sub-parts that can be solved with significantly lower computational costs.