Last updated on Oct 29, 2019
Motion generation through path planning, trajectory optimization, and novel robot learning approaches.
My research interests include autonomous robots, simulators, and motion planning.
Synthesize contact-rich grasps for multi-fingered hands via differentiable simulation
Dylan Turpin, Liquan Wang, Eric Heiden, Yun-Chun Chen, Miles Macklin, Stavros Tsogkas, Scen Dickinson, Animesh Garg
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task in applications ranging from autonomous …
Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai O. Arras, Gaurav S. Sukhatme, Sven Koenig
We present a strategy for simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than …
Ryan C. Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman
Auto-conditioned Recurrent Mixture Density Networks for Learning Generalizable Robotic Manipulation Skills
Personal robots assisting humans must perform complex manipulation tasks that are typically difficult to specify in traditional motion …
Hejia Zhang, Eric Heiden, Stefanos Nikolaidis, Joseph J. Lim, Gaurav S. Sukhatme
Planning smooth trajectories is important for the safe, efficient and comfortable operation of mobile robots, such as wheeled robots …
Eric Heiden, Luigi Palmieri, Sven Koenig, Kai O. Arras, Gaurav S. Sukhatme
Planning safe, high-speed trajectories in unknown environments remains a major roadblock on the way toward achieving fast autonomous …
Eric Heiden, Karol Hausman, Gaurav S. Sukhatme, Ali-akbar Agha-mohammadi