Gregory S. Chirikjian
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View article: Asymptotically steerable finite Fourier-Bessel transforms and closure under convolution
Asymptotically steerable finite Fourier-Bessel transforms and closure under convolution Open
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-Bessel transforms (FFBT) and inverse finite Fourier-Bessel t…
View article: INGRID: Intelligent Generative Robotic Design Using Large Language Models
INGRID: Intelligent Generative Robotic Design Using Large Language Models Open
The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by existing robotic architectures, particularly serial mechanisms.…
View article: Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking With a Low-Cost Camera
Reasoning and Learning a Perceptual Metric for Self-Training of Reflective Objects in Bin-Picking With a Low-Cost Camera Open
Bin-picking of metal objects using low-cost RGB-D cameras often suffers from sparse depth information and reflective surface textures, leading to errors and the need for manual labeling. To reduce human intervention, we propose a two-stage…
View article: Means of Random Variables in Lie Groups
Means of Random Variables in Lie Groups Open
The concepts of mean (i.e., average) and covariance of a random variable are fundamental in statistics, and are used to solve real-world problems such as those that arise in robotics, computer vision, and medical imaging. On matrix Lie gro…
View article: Fast Convolutions on $\mathbb{Z}^2\backslash SE(2)$ via Radial Translational Dependence and Classical FFT
Fast Convolutions on $\mathbb{Z}^2\backslash SE(2)$ via Radial Translational Dependence and Classical FFT Open
Let $\mathbb{Z}^2\backslash SE(2)$ denote the right coset space of the subgroup consisting of translational isometries of the orthogonal lattice $\mathbb{Z}^2$ in the non-Abelian group of planar motions $SE(2)$. This paper develops a fast …
View article: Parameter Estimation on Homogeneous Spaces
Parameter Estimation on Homogeneous Spaces Open
The Fisher Information Metric (FIM) and the associated Cramér-Rao Bound (CRB) are fundamental tools in statistical signal processing, which inform the efficient design of experiments and algorithms for estimating the underlying parameters.…
View article: RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets Open
Cloth state estimation is an important problem in robotics. It is essential for the robot to know the accurate state to manipulate cloth and execute tasks such as robotic dressing, stitching, and covering/uncovering human beings. However, …
View article: Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects Open
This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of ha…
View article: Group-theoretic analysis of symmetry-preserving deployable structures and metamaterials
Group-theoretic analysis of symmetry-preserving deployable structures and metamaterials Open
Many deployable structures in nature, as well as human-made mechanisms, preserve symmetry as their configurations evolve. Examples in nature include blooming flowers, dilation of the iris within the human eye, viral capsid maturation and m…
View article: Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots
Design, Calibration, and Control of Compliant Force-sensing Gripping Pads for Humanoid Robots Open
This paper introduces a pair of low-cost, light-weight and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and center of pressure (C…
View article: RAIL: Robot Affordance Imagination with Large Language Models
RAIL: Robot Affordance Imagination with Large Language Models Open
This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human cog…
View article: Non-Abelian Fourier Analysis on $\mathbfΓ\backslash SE(d)$
Non-Abelian Fourier Analysis on $\mathbfΓ\backslash SE(d)$ Open
This paper presents a systematic study for the general theory of non-Abelian Fourier series of integrable functions on the homogeneous space $\mathbfΓ\backslash SE(d)$, where $SE(d)$ is the special Euclidean group in dimension $d$, and $\m…
View article: Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective
Uncertainty Propagation and Bayesian Fusion on Unimodular Lie Groups from a Parametric Perspective Open
We address the problem of uncertainty propagation and Bayesian fusion on unimodular Lie groups. Starting from a stochastic differential equation (SDE) defined on Lie groups via Mckean-Gangolli injection, we first convert it to a parametric…
View article: PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning From Demonstration
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning From Demonstration Open
This paper proposes a learning-from-demonstration (LfD) method using probability densities on the workspaces of robot manipulators. The method, named PRobabilistically-Informed Motion Primitives (PRIMP), learns the probability distribution…
View article: Uncertainty Propagation on Unimodular Matrix Lie Groups
Uncertainty Propagation on Unimodular Matrix Lie Groups Open
This paper addresses uncertainty propagation on unimodular matrix Lie groups that have a surjective exponential map. We derive the exact formula for the propagation of mean and covariance in a continuous-time setting from the governing Fok…
View article: Asymptotically Steerable Finite Fourier-Bessel Transforms and Closure under Convolution
Asymptotically Steerable Finite Fourier-Bessel Transforms and Closure under Convolution Open
This paper develops a constructive numerical scheme for Fourier-Bessel approximations on disks compatible with convolutions supported on disks. We address accurate finite Fourier-Bessel transforms (FFBT) and inverse finite Fourier-Bessel t…
View article: A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum
A Lie-Theoretic Approach to Propagating Uncertainty Jointly in Attitude and Angular Momentum Open
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equations of rotational motion. This paper demonstrates that the …
View article: Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs Open
In this letter, a paradigm for the classification and manipulation of novel objects is established and demonstrated with the example of chairs. Our approach leverages the robot's understanding of object stability, perceptibility, and affor…
View article: Model Reduction in Soft Robotics Using Locally Volume-Preserving Primitives
Model Reduction in Soft Robotics Using Locally Volume-Preserving Primitives Open
A new, and extremely efficient, computational modeling paradigm is introduced here for specific finite elasticity problems that arise in the context of soft robotics. Whereas continuum mechanics is a very classical area of study that is br…
View article: Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics Open
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades.Traditional work analyzes physical models of the objects and computes force-closure grasps.Such methods require preknowled…
View article: A Learning-Based Approach for Estimating Inertial Properties of Unknown Objects From Encoder Discrepancies
A Learning-Based Approach for Estimating Inertial Properties of Unknown Objects From Encoder Discrepancies Open
Many robots utilize commercial force/torque sensors to identify inertial properties of unknown objects. However, such sensors can be difficult to apply to small-sized robots due to their weight, size, and cost. In this letter, we propose a…
View article: Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs
Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs Open
In this letter, a paradigm for the classification and manipulation of previously unseen objects is established and demonstrated through a real example of chairs. We present a novel robot manipulation method, guided by the understanding of …
View article: PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration
PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration Open
This paper proposes a learning-from-demonstration method using probability densities on the workspaces of robot manipulators. The method, named "PRobabilistically-Informed Motion Primitives (PRIMP)", learns the probability distribution of …
View article: Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics
Learning-Free Grasping of Unknown Objects Using Hidden Superquadrics Open
Robotic grasping is an essential and fundamental task and has been studied extensively over the past several decades. Traditional work analyzes physical models of the objects and computes force-closure grasps. Such methods require pre-know…
View article: Marching-Primitives: Shape Abstraction from Signed Distance Function
Marching-Primitives: Shape Abstraction from Signed Distance Function Open
Representing complex objects with basic geometric primitives has long been a topic in computer vision. Primitive-based representations have the merits of compactness and computational efficiency in higher-level tasks such as physics simula…
View article: On the Inertial Rotational Brownian Motion of Arbitrarily Shaped Particles
On the Inertial Rotational Brownian Motion of Arbitrarily Shaped Particles Open
This article reports the modeling of inertial rotational Brownian motion as an Ornstein-Uhlenbeck process evolving on the cotangent bundle of the rotation group, SO(3). The benefit of this approach and the use of a different parameterizati…
View article: Model-Free and Learning-Free Proprioceptive Humanoid Movement Control
Model-Free and Learning-Free Proprioceptive Humanoid Movement Control Open
This paper presents a novel model-free method for humanoid-robot quasi-static movement control. Traditional model-based methods often require precise robot model parameters. Additionally, existing learning-based frameworks often train the …