Eric Heiden
Eric Heiden
Home
Projects
Publications
Experience
Contact
Publications
Type
Conference paper
Journal article
Preprint
Report
Date
2020
2019
2018
2017
Sparse-Input Neural Network Augmentations for Differentiable Simulators
Differentiable simulators provide an avenue for closing the sim2real gap by enabling the use of efficient, gradient-based optimization …
Eric Heiden
,
David Millard
,
Erwin Coumans
,
Gaurav S. Sukhatme
PDF
Code
Project
Poster
Video
NeuralSim: Augmenting Differentiable Simulators with Neural Networks
Differentiable simulators provide an avenue for closing the sim-to-real gap by enabling the use of efficient, gradient-based …
Eric Heiden
,
David Millard
,
Erwin Coumans
,
Yizhou Sheng
,
Gaurav S. Sukhatme
PDF
Code
Project
Video
Closing the Sim2Real Gap using Invertible Simulators
Employing robots in the real world to perform a large variety of tasks remains a great challenge to current perception, planning and control algorithms. Various specialized representations, such as for mapping or localization, have been proposed which are typically used in fixed pipelines that fuse perception, planning and control.
Eric Heiden
PDF
Project
Augmenting Differentiable Simulators with Neural Networks to Close the Sim2Real Gap
We present a differentiable simulation architecture for articulated rigid-body dynamics that enables the augmentation of analytical …
Eric Heiden
,
David Millard
,
Erwin Coumans
,
Gaurav S. Sukhatme
PDF
Cite
Code
Project
Video
Bench-MR: A Motion Planning Benchmark for Wheeled Mobile Robots
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
Code
Project
Scaling simulation-to-real transfer by learning composable robot skills
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
PDF
Cite
Code
Project
Video
DOI
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. …
Kamak Ebadi
,
Yun Chang
,
Matteo Palieri
,
Alex Stephens
,
Alex Hatteland
,
Eric Heiden
,
Abhishek Thakur
,
Benjamin Morrell
,
Luca Carlone
,
Ali-akbar Agha-mohammadi
PDF
Project
Automatic Differentiation and Continuous Sensitivity Analysis of Rigid Body Dynamics
A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the …
David Millard
,
Eric Heiden
,
Shubham Agrawal
,
Gaurav S. Sukhatme
PDF
Project
Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking
Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and …
Eric Heiden
,
Ziang Liu
,
Ragesh K. Ramachandran
,
Gaurav S. Sukhatme
PDF
Cite
Project
Video
Real2Sim Transfer using Differentiable Physics
Accurate simulations allow modern machine learning techniques to be applied to robotics problems, with sample-collection runtimes …
Eric Heiden
,
David Millard
,
Gaurav S. Sukhatme
PDF
Project
Interactive Differentiable Simulation
Intelligent agents need a physical understanding of the world to predict the impact of their actions in the future. While …
Eric Heiden
,
David Millard
,
Hejia Zhang
,
Gaurav S. Sukhatme
PDF
Project
Confidence-rich Grid Mapping
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we …
Ali-akbar Agha-mohammadi
,
Eric Heiden
,
Karol Hausman
,
Gaurav S. Sukhatme
PDF
Cite
Project
DOI
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
PDF
Project
Poster
Slides
Video
Simulator Predictive Control: Using Learned Task Representations and MPC for Zero-Shot Generalization and Sequencing
Simulation-to-real transfer is an important strategy for making reinforcement learning practical with real robots. Successful …
Zhanpeng He
,
Ryan Julian
,
Eric Heiden
,
Hejia Zhang
,
Stefan Schaal
,
Joseph Lim
,
Gaurav S. Sukhatme
,
Karol Hausman
PDF
Scaling simulation-to-real transfer by learning composable robot skills
We present a novel solution to the problem of simulation-to-real transfer, which builds on recent advances in robot skill …
Ryan C. Julian
,
Eric Heiden
,
Zhanpeng He
,
Hejia Zhang
,
Stefan Schaal
,
Joseph J. Lim
,
Gaurav S. Sukhatme
,
Karol Hausman
PDF
Cite
Code
Video
Heterogeneous Sensor Fusion via Confidence-rich 3D Grid Mapping: Application to Physical Robots
Autonomous navigation of intelligent physical systems largely depend on the ability of the system to generate an accurate map of its …
Eric Heiden
,
Daniel Pastor
,
Pradyumna Vyshnav
,
Ali-akbar Agha-mohammadi
PDF
Project
Gradient-Informed Path Smoothing for Wheeled Mobile Robots
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
PDF
Cite
Code
Project
Video
Planning High-speed Safe Trajectories in Confidence-rich Maps
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
PDF
Project
Project
Confidence-rich Grid Mapping
Occupancy grids are a common framework in robotics for creating a spatial map of the environment. Traditional grid mapping algorithms …
Ali-akbar Agha-mohammadi
,
Eric Heiden
,
Karol Hausman
,
Gaurav S. Sukhatme
PDF
Project
Web Text-based Network Industry Classifications: Preliminary Results
Studies of market structure and product market competition are important in many disciplines, such as economics, finance, accounting …
Eric Heiden
,
Gerard Hoberg
,
Craig A. Knoblock
,
Palak Modi
,
Gordon Phillips
,
Gaurangi Raul
,
Pedro Szekely
PDF
DOI
Concept and Realization of a Diagnostic System for Smart Environments
Automatically diagnosing a complex system containing heterogeneous hard- and software components is a challenging task. To analyze the …
Eric Heiden
,
Sebastian Bader
,
Thomas Kirste
PDF
DOI
High-speed Safe Trajectory Planning in Confidence-rich Maps
Eric Heiden
,
Karol Hausman
,
Gaurav S. Sukhatme
,
Ali-akbar Agha-mohammadi
Confidence-aware Occupancy Grids
Ali-akbar Agha-mohammadi
,
Eric Heiden
,
Karol Hausman
,
Gaurav S. Sukhatme
Cite
×