Chirikjian Lab

Marching-Primitives

[CVPR2023 Highlight] Marching-Primitives: Shape Abstraction from Signed Distance Function

hrm

[T-RO] Highway RoadMap (HRM) paradigm for robot motion planning based on parameterizations of the free space

LSG-CPD

[ICCV 2021] CPD with Local Surface Geometry (LSG-CPD)

ravens_visual_foresight

[IROS 2022] Transporters with Visual Foresight (TVF)

cfc-collision

[RA-L/IROS2022] Collision detection for general convex smooth bodies using closed-form contact space (CFC)

banana_distribution

cfc-collision-matlab

Collision detection between convex and smooth bodies using closed-form contact space parameterization, MATLAB implementation.

primp-python

[T-RO] Python implementation of PRobabilistically-Informed Motion Primitives (PRIMP)

deformable_ravens_vf

Goal-Conditioned Transporter Networks (GCTN) for the multi-modal action proposal module of Transporters with Visual Foresight (TVF)

primp-matlab

[T-RO] MATLAB implementation of PRobabilistically-Informed Motion Primitives (PRIMP), a learning-from-demonstration method on Lie group.

cfc_collision_ros

ROS package for motion planning application using the collision detection framework based on closed-form contact space.

EMS-superquadric_fitting

tvf

Project webpage for TVF

chair_imagination

Igethangofit

This webpage is for the robotic hanging paper that submitted to RAL.

panda_moveit_ctrl

Control Panda robot with MoveIt

shape_abstraction_via_superquadric

VolumePreservingModel

Model Reduction in Soft Robotics Using Locally Volume-Preserving Primitives

chairimagination

Project page for "Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body" (ICRA 2020)

chirikjianlab.github.io

container-imagination-only

This repo only contains the code for container imagination. Suitable for users who want to try only the imagination part without doing robot experiments. Updated dependencies. Works for Python 3.

HumanoidMotionPlanning-

NaoSelfCalibration

primp-page

Webpage for PRIMP: PRobabilistically-Informed Motion Primitives.

G2RL-LM

Goal-Guided Reinforcement Learning: Leveraging Large Language Models for Long-Horizon Task Decomposition

hrm-planning-page

Project page for "Efficient Path Planning in Narrow Passages for Robots with Ellipsoidal Components".

lbipe

[RA-L] A Learning-Based Approach for Estimating Inertial Properties of Unknown Objects From Encoder Discrepancies

preparechair

project page for Prepare Chair for the Bear

putbearonchair

rail-page

This is the page for the project The Curious Robot: Generalized Affordance Reasoning with Physics-Based and LLM-Enhanced Imagination