TOMSY: Topology Based Motion Synthesis for Dextrous Manipulation

Research output

Research output per year 2012 2012 2013 2014 2016 2017

• 17 Conference contribution
• 11 Article

Research output per year

Research output per year

Search results

• 2017

  Exploiting Causality for Selective Belief Filtering in Dynamic Bayesian Networks (Extended Abstract)*

  Albrecht, S. V. & Ramamoorthy, S., 25 Aug 2017, Proceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence (IJCAI-17). IJCAI Inc, p. 5085-5089 5 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dynamic Bayesian Network 100%
  • Filtering Method 66%
  • Process State 33%
  • multiple robot 33%
  • State Variable 33%

• Spatio-temporal stiffness optimization with switching dynamics

  Nakanishi, J., Radulescu, A., Braun, D. & Vijayakumar, S., Feb 2017, In: Autonomous Robots. 4, 2, p. 273-291 19 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Dynamic Switching 100%
  • Rigidity 100%
  • Dynamical System 100%
  • Optimal Control 100%
  • Command and Control 100%
• 2016

  Relationship Templates for Synthesising Scene Variations

  Zhao, X., Hu, R., Guerrero, P., Mitra, N. & Komura, T., 11 Nov 2016, In: ACM Transactions on Graphics. 35, 6, 13 p., 207.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Spatial Interaction 100%
  • Frequency Domain 100%
  • Spatial Relation 100%

• Bayesian Policy Reuse

  Rosman, B., Hawasly, M. & Ramamoorthy, S., Jul 2016, In: Machine Learning. 104, 1, p. 99-127 29 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Rapid Convergence 100%
  • Autonomous Agent 50%
  • Observed Signal 50%
  • Training Phase 50%
  • Computation Cost 50%

• Belief and Truth in Hypothesised Behaviours

  Albrecht, S. V., Crandall, J. W. & Ramamoorthy, S., 1 Jun 2016, In: Artificial Intelligence. 235, p. 63–94 32 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Intelligence Community 100%
  • Task Completion 100%
  • Composed System 100%
  • Observed Action 100%
  • Multiple Agents 100%

• Exploiting Causality for Selective Belief Filtering in Dynamic Bayesian Networks

  Albrecht, S. V. & Ramamoorthy, S., 1 May 2016, In: Journal of Artificial Intelligence Research. 55, p. 1135-1178 43 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Dynamic Bayesian Network 100%
  • Approximation (Algorithm) 33%
  • Process State 33%
  • Large State Space 33%
  • Filtering Method 33%

• A brain imaging repository of normal structural MRI across the life course: Brain Images of Normal Subjects (BRAINS)

  Job, D., Dickie, D. A., Rodriguez Gonzalez, D., Robson, A., Danso, S., Pernet, C., Bastin, M., Boardman, J. P., Murray, A. D., Ahearn, T. S., Waiter, G. D., Staff, R. T., Deary, I., Shenkin, S. D. & Wardlaw, J., 18 Jan 2016, (E-pub ahead of print) In: NeuroImage.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Volunteer 100%
  • Magnetic Resonance Imaging 100%
  • Brain Imaging 100%
  • Blood Pressure 50%
  • Diffusion Tensor Imaging 50%

• Topological trajectory classification with filtrations of simplicial complexes and persistent homology

  Pokorny, F. T., Hawasly, M. & Ramamoorthy, S., 1 Jan 2016, In: International Journal of Robotics Research. 35, 1-3, p. 204-223 20 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Persistent Homology 100%
  • Configuration Space 100%
  • Simplicial Complex 100%
  • simplicial complex σ 100%
  • Approximation (Algorithm) 20%

• Character contact re-positioning under large environment deformation

  Tonneau, S., Ali Al-Ashqar, R., Pettré, J., Komura, T. & Mansard, N., 2016, In: Computer Graphics Forum. 35, 2, p. 127-138 12 p.

  Research output: Contribution to journal › Article › peer-review

  Open Access

  File

  • Motion Capture 100%
  • Challenging Scenario 100%
  • Animation Software 100%
  • videogame 100%
  • Interactive 100%
• 2015

  Evaluation of regression methods for the continuous decoding of finger movement from surface EMG and accelerometry

  Krasoulis, A., Vijayakumar, S. & Nazarpour, K., 1 Apr 2015, Neural Engineering (NER), 2015 7th International IEEE/EMBS Conference on. Institute of Electrical and Electronics Engineers, p. 631-634 4 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Regression Method 100%
  • Electromyography 100%
  • Degree of Freedom 100%
  • Decoding Performance 100%
  • Training Phase 50%

• An Energy-Driven Motion Planning Method for Two Distant Postures

  Wang, H., Ho, E. S. L. & Komura, T., 1 Jan 2015, In: IEEE Transactions on Visualization and Computer Graphics. 21, 1, p. 18-30 13 p.

  Research output: Contribution to journal › Article › peer-review

  • Motion Planning 100%
  • Planning Method 100%
  • Boundary Value 100%
  • Potential Application 50%
  • Linear Interpolation 50%

• Towards Low-Dimensionsal Proportional Myoelectric Control

  Krasoulis, A., Nazarpour, K. & Vijayakumar, S., 2015, Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE. Institute of Electrical and Electronics Engineers, p. 7155 - 7158 4 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Dimensionality 100%
  • Component Analysis 50%
  • Degree of Freedom 50%
  • Problem Formulation 50%
  • Generalized Eigenvalue Problem 50%
• 2014

  Real-time object pose recognition and tracking with an imprecisely calibrated moving RGB-D camera

  Pauwels, K., Ivan, V., Ros, E. & Vijayakumar, S., 1 Sept 2014, Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on. Institute of Electrical and Electronics Engineers, p. 2733-2740 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Closed Loop 100%
  • Region of Interest 100%
  • Endpoint 100%
  • Graphics Processing Unit 100%
  • Target Object 100%

• Generalizability of EMG decoding using local field potentials

  Krasoulis, A., Hall, T. M., Vijayakumar, S., Jackson, A. & Nazarpour, K., 1 Aug 2014, Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE. Institute of Electrical and Electronics Engineers, p. 1630-1633 4 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Local Field Potential 100%
  • Behavior (Neuroscience) 60%
  • Electroencephalogram 20%

• Multiscale Topological Trajectory Classification with Persistent Homology

  pokorny, F., Hawasly, M. & Ramamoorthy, S., 1 Jul 2014, Proceedings of Robotics: Science and Systems X 2014. Berkeley, USA, 9 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Persistent Homology 100%
  • Configuration Space 100%
  • Simplicial Complex 33%
  • simplicial complex σ 33%
  • Approximation (Algorithm) 16%

• Giving advice to agents with hidden goals

  Rosman, B. & Ramamoorthy, S., May 2014, Robotics and Automation (ICRA), 2014 IEEE International Conference on. Institute of Electrical and Electronics Engineers, p. 1959-1964 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Approximation (Algorithm) 100%
  • Autonomous Agent 100%
  • Completion Rate 100%
  • Potential Benefit 100%
  • Common Sense 100%

• Joint classification of actions and object state changes with a latent variable discriminative model

  Vafeias, E. & Ramamoorthy, S., May 2014, Robotics and Automation (ICRA), 2014 IEEE International Conference on. Institute of Electrical and Electronics Engineers, p. 4856-4862 7 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Object State Change 100%
  • Robot 25%
  • Conditional Random Field 25%
  • Human Motions 25%
  • Superior Performance 25%

• On User Behaviour Adaptation Under Interface Change

  Rosman, B., Ramamoorthy, S., Mahmud, M. M. H. & Kohli, P., 2014, Proceedings of the 19th International Conference on Intelligent User Interfaces. New York, NY, USA: ACM, p. 273-278 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Adaptation Algorithm 100%
  • Keyboard 100%
  • Action Sequence 100%
  • Command-Line 100%
  • User Behavior 100%
• 2013

  Spatio-temporal optimization of multi-phase movements: Dealing with contacts and switching dynamics

  Nakanishi, J., Radulescu, A. & Vijayakumar, S., 3 Nov 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers, p. 5100-5107 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Dynamic Switching 100%
  • Rigidity 100%
  • Actuation 66%
  • Control Command 33%
  • Robotic System 33%

• A Game-Theoretic Model and Best-Response Learning Method for Ad Hoc Coordination in Multiagent Systems

  Albrecht, S. V. & Ramamoorthy, S., 2013, AAMAS '13 Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. International Foundation for Autonomous Agents and Multiagent Systems, p. 1155-1156 2 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Theoretic Model 100%
  • Multi Agent Systems 100%
  • User-Defined Type 100%
  • Foraging Domain 50%
  • Observed Behavior 50%

• Bayesian interaction shaping: learning to influence strategic interactions in mixed robotic domains

  Valtazanos, A. & Ramamoorthy, S., 2013, Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. International Foundation for Autonomous Agents and Multiagent Systems, p. 63-70 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  Open Access

  File

  • Robot 100%
  • Strategic Interaction 100%
  • Learning Framework 33%
  • Intelligent Robots 33%

• Learning in non-stationary MDPs as transfer learning

  Mahmud, M. & Ramamoorthy, S., 2013, AAMAS '13 Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems. International Foundation for Autonomous Agents and Multiagent Systems, p. 1259-1260 2 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Transfer Learning 100%
  • Subclasses 50%
  • Variable Result 50%
  • Perform Experiment 50%
  • Transfer Information 50%

• Lifelong Learning of Structure in the Space of Policies.

  Hawasly, M. & Ramamoorthy, S., 2013, Lifelong Machine Learning: Papers from the 2013 AAAI Spring Symposium . AAAI Press, p. 21-26 6 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Human Participant 100%
  • Unsupervised Learning 100%
  • Autonomous Agent 100%
  • Lifelong Learning 100%

• Motion planning and reactive control on learnt skill manifolds

  Havoutis, I. & Ramamoorthy, S., 2013, In: International Journal of Robotics Research. 32, 9-10, p. 1120-1150 31 p.

  Research output: Contribution to journal › Article › peer-review

  • Humanoid Robots 100%
  • Geodesics 100%
  • Motion Planning 100%
  • Trajectory Generation 100%
  • Restrict Attention 100%
• 2012

  Capturing Close Interactions with Objects Using a Magnetic Motion Capture System and a RGBD Sensor

  Sandilands, P., Choi, M. G. & Komura, T., Nov 2012, Motion in Games: 5th International Conference, MIG 2012, Rennes, France, November 15-17, 2012. Proceedings. Springer, p. 220-231 12 p. (Lecture Notes in Computer Science; vol. 7660).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Motion Capture 100%
  • Occlusion Problem 33%
  • Optical Motion Capture 33%
  • Interactive 33%

• Hierarchical Motion Planning in Topological Representations

  Zarubin, D., Ivan, V., Toussaint, M., Komura, T. & Vijayakumar, S., 31 Jul 2012, Proceedings of Robotics: Science and Systems VIII. p. 59 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Optimal Control Theory 100%
  • Configuration Space 100%
  • Motion Planning 100%
  • Motion Synthesis 100%
  • Optimal Control 66%

• Real-time controllable fire using textured forces

  Lever, J. & Komura, T., Jun 2012, In: The Visual Computer. 28, 6, p. 691-700 10 p.

  Research output: Contribution to journal › Article › peer-review

  • Fine Detail 100%
  • Fluid Dynamics 100%
  • Film 100%
  • Surface (Surface Science) 100%
  • Graphics Processing Unit 50%

• A Multitask Representation Using Reusable Local Policy Templates.

  Rosman, B. S. & Ramamoorthy, S., 2012, AAAI Spring Symposium: Designing Intelligent Robots. AAAI Press, 6 p. (AAAI Technical Report: Designing Intelligent Robots: Reintegrating AI; no. SS-12-02).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

  • Policy Template 100%
  • Hierarchical Reinforcement Learning 100%