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Planning and Autonomy Lab Head: James Kuffner Contact: James Kuffner (kuffner@cs.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: CFR For more information, see this lab's homepage.

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Lab Description

We are interested in motion planning, perception, and control for autonomous humanoid robots, quadrupeds, mobile manipulators and UAVs. Our core research involves developing efficient new techniques for navigation planning, footstep planning, autonomous grasping and manipulation planning, trajectory planning with dynamic constraints, and integrated perception and planning.

Personnel [Past members]

	Name	Title	Email Address
	Dmitry Berenson	PhD Student, RI	dberenso+@cs.cmu.edu
	Rosen Diankov	PhD Student, RI	rdiankov@cmu.edu
	Myung Hwangbo	PhD Student, RI	myung@andrew.cmu.edu
	Satoshi Kagami	Visiting Faculty
	James Kuffner	Assistant Professor	kuffner@cs.cmu.edu
	Manfred Lau	PhD Student, CS	mlau@cs.cmu.edu
	Philipp Michel	PhD Student, RI	pmichel@cs.cmu.edu
	Matthew Zucker	PhD Student, RI	mzucker@andrew.cmu.edu

Current Projects

Behavior Planning for Character Animation - We are exploring a behavior planning approach to automatically generate realistic motions for animated characters.	Footstep Planning for Biped Robots - Navigation strategies for bipeds through complex environments, planning for the full capabilities of the biped.
GPU-accelerated Computer Vision - We are exploiting programmable graphics hardware to improve existing vision algorithms and enable novel approaches to robot perception.	Learning Locomotion - Robust planning and control of the quadruped robot "Little Dog" to traverse rough terrain (DARPA sponsored).
Navigation Among Movable Obstacles - Autonomous motion planning and control for robots working in reconfigurable environments.	Perception for Humanoid Robots - Real-time perception algorithms for autonomous humanoid navigation, manipulation and interaction.
Precomputed Search Trees: Planning for Interactive Goal-Driven Animation - We present a novel approach for interactively synthesizing motions for characters navigating in complex environments.

Recent publications [View all 22 publications]

• Adaptive Workspace Biasing for Sampling Based Planners
  M. Zucker, J. Kuffner, and J. Bagnell
  Proc. IEEE Int'l Conf. on Robotics and Automation, May, 2008. [Abstract]
  Download: pdf [976 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  tech. report CMU-RI-TR-07-45, Robotics Institute, Carnegie Mellon University, December, 2007. [Abstract]
  Download: pdf [2236 KB] copyrighted

• Imitation Learning for Locomotion and Manipulation
  N. Ratliff, J. Bagnell, and S. Srinivasa
  IEEE-RAS International Conference on Humanoid Robots, November, 2007. [Abstract]

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted

• Navigation Among Movable Obstacles
  M. Stilman
  doctoral dissertation, tech. report CMU-RI-TR-07-37, Robotics Institute, Carnegie Mellon University, October, 2007. [Abstract]
  Download: pdf [10532 KB] copyrighted

• Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
  P. Michel, C. Scheurer, J. Kuffner, N. Vahrenkamp, and R. Dillmann
  Proceedings of the IEEE/RSJ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 3223-3228. [Abstract]
  Download: pdf [2042 KB] copyrighted

• (Online) Subgradient Methods for Structured Prediction
  N. Ratliff, J. Bagnell, and M. Zinkevich
  Eleventh International Conference on Artificial Intelligence and Statistics (AIStats), March, 2007. [Abstract]
  Download: pdf [375 KB] copyrighted

• Boosting Structured Prediction for Imitation Learning
  N. Ratliff, D. Bradley, J. Bagnell, and J. Chestnutt
  Advances in Neural Information Processing Systems 19, MIT Press, Cambridge, MA, 2007. [Abstract]
  Download: pdf [847 KB] copyrighted

• Planning and Executing Navigation Among Movable Obstacles
  M. Stilman, K. Nishiwaki, S. Kagami, and J. Kuffner
  IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS 06), October, 2006, pp. 820 - 826. [Abstract]
  Download: pdf [1924 KB] copyrighted

• Planning Among Movable Obstacles with Artificial Constraints
  M. Stilman and J. Kuffner
  Workshop on the Algorithmic Foundations of Robotics, July, 2006. [Abstract]
  Download: pdf [2011 KB] copyrighted