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Research Group on Mobile Manipulation

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    • Todor Stoyanov
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Category: Recent-Papers

Posts about recently published papers

Illustration from the hose predictive modeling experiments

Learning differentiable dynamics models for shape control of deformable linear objects

September 15, 2022 By todor.stoyanov@oru.se

Learning differentiable dynamics models for shape control of deformable linear objects Abstract Robots manipulating deformable linear objects (DLOs)—such as surgical sutures in medical robotics, or…

Experiments on a real robot peg-in-hole insertion

MPR-RL: Multi-Prior Regularized Reinforcement Learning for Knowledge Transfer

June 27, 2022 By todor.stoyanov@oru.se

Abstract In manufacturing, assembly tasks have been a challenge for learning algorithms due to variant dynamics of different environments. Reinforcement learning (RL) is a promising…

Our panda robot picking up objects

Context-Aware Grasp Generation in Cluttered Scenes

April 1, 2022 By todor.stoyanov@oru.se

Abstract:Conventional methods to autonomous grasping rely on a pre-computed database with known objects to synthesize grasps, which is not possible for novel objects. On the…

Example task learned by our framework

Null space based efficient reinforcement learning with hierarchical safety constraints

January 12, 2022 By todor.stoyanov@oru.se

Null space based efficient reinforcement learning with hierarchical safety constraints Abstract Reinforcement learning is inherently unsafe for use in physical systems, as learning by trial-and-error…

Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics

March 3, 2021 By Yuxuan Yang

Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics Abstract Modeling dynamics of deformable linear objects (DLOs), such as cables, hoses, sutures, and…

Panoptic-MOPE: Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information.

June 1, 2020 By todor.stoyanov@oru.se

Panoptic-MOPE: Panoptic 3D Mapping and Object Pose Estimation Using Adaptively Weighted Semantic Information. Abstract We present a system capable of reconstructing highly detailed object-level models…

Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data

May 30, 2020 By todor.stoyanov@oru.se

Ensemble of Sparse Gaussian Process Experts for Implicit Surface Mapping with Streaming Data Abstract— Creating maps is an essential task in robotics and provides the…

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