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Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization

13 September 2024

Papers citing "Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization"

27 / 27 papers shown

Title
AI-based Framework for Robust Model-Based Connector Mating in Robotic Wire Harness Installation Claudius Kienle Benjamin Alt Finn Schneider Tobias Pertlwieser Rainer Jäkel Rania Rayyes 109 0 0 12 Mar 2025
MuTT: A Multimodal Trajectory Transformer for Robot Skills Claudius Kienle Benjamin Alt Onur Celik P. Becker Darko Katic Rainer Jäkel Gerhard Neumann 59 2 0 22 Jul 2024
Practice Makes Perfect: Planning to Learn Skill Parameter Policies Nishanth Kumar Tom Silver Willie McClinton Linfeng Zhao Stephen Proulx Tomás Lozano-Pérez L. Kaelbling Jennifer Barry 105 22 0 22 Feb 2024
Revisiting Implicit Differentiation for Learning Problems in Optimal Control Ming Xu Timothy Molloy Stephen Gould 65 7 0 23 Oct 2023
STAMP: Differentiable Task and Motion Planning via Stein Variational Gradient Descent Yewon Lee Philip Huang Krishna Murthy Jatavallabhula Andrew Z. Li Fabian Damken Eric Heiden Kevin Smith Derek Nowrouzezahrai Fabio Ramos Florian Shkurti University of Toronto 58 6 0 03 Oct 2023
RETRO: Reactive Trajectory Optimization for Real-Time Robot Motion Planning in Dynamic Environments Apan Dastider Hao Fang Mingjie Lin 78 4 0 03 Oct 2023
A Unifying Variational Framework for Gaussian Process Motion Planning Lucas Cosier Rares Iordan Sicelukwanda Zwane Giovanni Franzese James T. Wilson M. Deisenroth Alexander Terenin Yasemin Bekiroglu 3DV 69 4 0 02 Sep 2023
Differentiable Task Assignment and Motion Planning Jimmy Envall Roi Poranne Stelian Coros 33 4 0 19 Apr 2023
Meta-Learning Parameterized First-Order Optimizers using Differentiable Convex Optimization Tanmay Gautam Samuel Pfrommer Somayeh Sojoudi 66 2 0 29 Mar 2023
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments Bastian Alt Darko Katic Rainer Jäkel Michael Beetz 56 6 0 15 Jul 2022
Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration Matthias Mayr Faseeh Ahmad Konstantinos Chatzilygeroudis Luigi Nardi Volker Krueger 75 28 0 18 Mar 2022
Trajectory Optimization with Optimization-Based Dynamics Taylor A. Howell Simon Le Cleac'h Sumeet Singh Peter R. Florence Zachary Manchester Vikas Sindhwani AI4CE 183 27 0 10 Sep 2021
Safe Pontryagin Differentiable Programming Wanxin Jin Shaoshuai Mou George J. Pappas 88 41 0 31 May 2021
Robot Program Parameter Inference via Differentiable Shadow Program Inversion Bastian Alt Darko Katic Rainer Jäkel A. Bozcuoğlu Michael Beetz 75 10 0 26 Mar 2021
Metaheuristics "In the Large" J. Swan Steven Adriaensen Alexander E. I. Brownlee K. Hammond Colin G. Johnson ... Pablo García-Sánchez K. Sorensen S. Voß Markus Wagner D. White AIFin AI4CE 49 68 0 19 Nov 2020
Scalable Differentiable Physics for Learning and Control Yi-Ling Qiao Junbang Liang V. Koltun Ming Lin PINN AI4CE 87 119 0 04 Jul 2020
Multimodal Trajectory Optimization for Motion Planning Takayuki Osa 85 56 0 16 Mar 2020
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm Giovanni Sutanto Austin S. Wang Yixin Lin Mustafa Mukadam Gaurav Sukhatme Akshara Rai Franziska Meier 137 54 0 24 Jan 2020
Local Policy Optimization for Trajectory-Centric Reinforcement Learning Patrik Kolaric Devesh K. Jha A. Raghunathan F. Lewis M. Benosman Diego Romeres D. Nikovski 60 10 0 22 Jan 2020
DiffTaichi: Differentiable Programming for Physical Simulation Yuanming Hu Luke Anderson Tzu-Mao Li Qi Sun N. Carr Jonathan Ragan-Kelley F. Durand 75 388 0 01 Oct 2019
Differentiable Gaussian Process Motion Planning M. Bhardwaj Byron Boots Mustafa Mukadam 62 63 0 22 Jul 2019
A Review of automatic differentiation and its efficient implementation C. Margossian 71 320 0 12 Nov 2018
Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference Mustafa Mukadam Jing Dong Xinyan Yan F. Dellaert Byron Boots GP 68 216 0 24 Jul 2017
A Differentiable Physics Engine for Deep Learning in Robotics Jonas Degrave Michiel Hermans J. Dambre Francis Wyffels PINN AI4CE 111 231 0 05 Nov 2016
Bayesian Optimization with Safety Constraints: Safe and Automatic Parameter Tuning in Robotics Felix Berkenkamp Andreas Krause Angela P. Schoellig 150 285 0 14 Feb 2016
Automatic differentiation in machine learning: a survey A. G. Baydin Barak A. Pearlmutter Alexey Radul J. Siskind PINN AI4CE ODL 174 2,820 0 20 Feb 2015
Adam: A Method for Stochastic Optimization Diederik P. Kingma Jimmy Ba ODL 2.1K 150,364 0 22 Dec 2014