Florian T. Pokorny

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 67

Top Topics

Data Representations

Reinforcement Learning

Motion Planning

Top Venues

Int. J. Robotics Res.

Publications

Yifei Dong, Florian T. Pokorny
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects. ICRA (2024)
Muhammad Zahid, Florian T. Pokorny
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. ICRA (2024)
Yifei Dong, Xianyi Cheng, Florian T. Pokorny
Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis. IEEE Robotics Autom. Lett. 9 (9) (2024)
Yifei Dong, Xianyi Cheng, Florian T. Pokorny
Caging in Motion: Characterizing Robustness in Manipulation through Energy Margin and Dynamic Caging Analysis. CoRR (2024)
Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny, Jana Tumova
Forward Invariance in Trajectory Spaces for Safety-critical Control. CoRR (2024)
Rafael I. Cabral Muchacho, Florian T. Pokorny
Adaptive Distance Functions via Kelvin Transformation. CoRR (2024)
Rafael I. Cabral Muchacho, Florian T. Pokorny
Walk on Spheres for PDE-based Path Planning. CoRR (2024)
Robert Gieselmann, Florian T. Pokorny
Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning. CoRL (2023)
Yifei Dong, Florian T. Pokorny
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects. CoRR (2023)
Shutong Jin, Ruiyu Wang, Muhammad Zahid, Florian T. Pokorny
Video Transformers under Occlusion: How Physics and Background Attributes Impact Large Models for Robotic Manipulation. CoRR (2023)
Muhammad Zahid, Florian T. Pokorny
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. CoRR (2023)
Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
An Efficient and Continuous Voronoi Density Estimator. AISTATS (2023)
Shutong Jin, Ruiyu Wang, Florian T. Pokorny
RealCraft: Attention Control as A Solution for Zero-shot Long Video Editing. CoRR (2023)
Robert Gieselmann, Florian T. Pokorny
Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning. CoRL (2023)
Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
An Efficient and Continuous Voronoi Density Estimator. CoRR (2022)
Vladislav Polianskii, Giovanni Luca Marchetti, Alexander Kravberg, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
Voronoi density estimator for high-dimensional data: Computation, compactification and convergence. UAI (2022)
Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. IROS (2022)
Alexander Kravberg, Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
Active Nearest Neighbor Regression Through Delaunay Refinement. CoRR (2022)
Alexander Kravberg, Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
Active Nearest Neighbor Regression Through Delaunay Refinement. ICML (2022)
Petra Poklukar, Vladislav Polianskii, Anastasia Varava, Florian T. Pokorny, Danica Kragic
Delaunay Component Analysis for Evaluation of Data Representations. CoRR (2022)
Vladislav Polianskii, Giovanni Luca Marchetti, Alexander Kravberg, Anastasiia Varava, Florian T. Pokorny, Danica Kragic
Voronoi Density Estimator for High-Dimensional Data: Computation, Compactification and Convergence. CoRR (2022)
Robert Gieselmann, Florian T. Pokorny
Latent Planning via Expansive Tree Search. NeurIPS (2022)
Jay Kamat, Joaquim Ortiz de Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey
BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. CoRR (2022)
Petra Poklukar, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic Jensfelt
Delaunay Component Analysis for Evaluation of Data Representations. ICLR (2022)
Michael C. Welle, Anastasiia Varava, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokorny
Partial caging: a clearance-based definition, datasets, and deep learning. Auton. Robots 45 (5) (2021)
Anastasiia Varava, J. Frederico Carvalho, Danica Kragic, Florian T. Pokorny
Free space of rigid objects: caging, path non-existence, and narrow passage detection. Int. J. Robotics Res. 40 (10-11) (2021)
Haoran Song, Anastasiia Varava, Oleksandr Kravchenko, Danica Kragic, Michael Yu Wang, Florian T. Pokorny, Kaiyu Hang
Herding by caging: a formation-based motion planning framework for guiding mobile agents. Auton. Robots 45 (5) (2021)
Andreas Orthey, Florian T. Pokorny, Marc Toussaint
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning. CoRR (2021)
Rita Laezza, Robert Gieselmann, Florian T. Pokorny, Yiannis Karayiannidis
ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation. ICRA (2021)
Subhrajit Bhattacharya, Florian T. Pokorny, Howie Choset
Guest Editorial: Special issue on "Topological methods in robotics". Auton. Robots 45 (5) (2021)
Ciwan Ceylan, Salla Franzén, Florian T. Pokorny
Learning Node Representations Using Stationary Flow Prediction on Large Payment and Cash Transaction Networks. ICML (2021)
Robert Gieselmann, Florian T. Pokorny
Planning-Augmented Hierarchical Reinforcement Learning. IEEE Robotics Autom. Lett. 6 (3) (2021)
Anastasiia Varava, J. Frederico Carvalho, Danica Kragic, Florian T. Pokorny
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection. CoRR (2020)
Robert Gieselmann, Florian T. Pokorny
Standard Deep Generative Models for Density Estimation in Configuration Spaces: A Study of Benefits, Limits and Challenges. IROS (2020)
Oleksandr Kravchenko, Anastasiia Varava, Florian T. Pokorny, Didier Devaurs, Lydia E. Kavraki, Danica Kragic
A Robotics-Inspired Screening Algorithm for Molecular Caging Prediction. J. Chem. Inf. Model. 60 (3) (2020)
Elon D. Rimon, Florian T. Pokorny, Weiwei Wan
Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation. ICRA (2020)
Vladislav Polianskii, Florian T. Pokorny
Voronoi Graph Traversal in High Dimensions with Applications to Topological Data Analysis and Piecewise Linear Interpolation. KDD (2020)
Claire Liang, Ross A. Knepper, Florian T. Pokorny
No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs. IROS (2020)
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg
SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards. Int. J. Robotics Res. 38 (2-3) (2019)
Vladislav Polianskii, Florian T. Pokorny
Voronoi Boundary Classification: A High-Dimensional Geometric Approach via Weighted Monte Carlo Integration. ICML (2019)
J. Frederico Carvalho, Mikael Vejdemo-Johansson, Florian T. Pokorny, Danica Kragic
Long-term Prediction of Motion Trajectories Using Path Homology Clusters. IROS (2019)
J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny
An algorithm for calculating top-dimensional bounding chains. PeerJ Comput. Sci. 4 (2018)
Anastasiia Varava, J. Frederico Carvalho, Florian T. Pokorny, Danica Kragic
Free Space of Rigid Objects: Caging, Path Non-existence, and Narrow Passage Detection. WAFR (2018)
J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny
Path Clustering with Homology Area. ICRA (2018)
Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg
Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. IEEE Trans Autom. Sci. Eng. 15 (3) (2018)
Anastasiia Varava, J. Frederico Carvalho, Danica Kragic, Florian T. Pokorny
A Decomposition-Based Approach to Reasoning about Free Space Path-Connectivity for Rigid Objects in 2D. CoRR (2017)
Anastasiia Varava, Kaiyu Hang, Danica Kragic, Florian T. Pokorny
Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots. Robotics: Science and Systems (2017)
Anastasiia Varava, J. Frederico Carvalho, Florian T. Pokorny, Danica Kragic
Caging and Path Non-existence: A Deterministic Sampling-Based Verification Algorithm. ISRR (2017)
Majd Hawasly, Florian T. Pokorny, Subramanian Ramamoorthy
Multi-scale Activity Estimation with Spatial Abstractions. GSI (2017)
J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny
An algorithm for calculating top-dimensional bounding chains. PeerJ Prepr. 5 (2017)
Daniel Seita, Florian T. Pokorny, Jeffrey Mahler, Danica Kragic, Michael J. Franklin, John F. Canny, Kenneth Y. Goldberg
Large-scale supervised learning of the grasp robustness of surface patch pairs. SIMPAR (2016)
Sanjay Krishnan, Animesh Garg, Richard Liaw, Lauren Miller, Florian T. Pokorny, Ken Goldberg
HIRL: Hierarchical Inverse Reinforcement Learning for Long-Horizon Tasks with Delayed Rewards. CoRR (2016)
Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg
Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology. WAFR (2016)
Michael Laskey, Sam Staszak, Wesley Yu-Shu Hsieh, Jeffrey Mahler, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg
SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces. ICRA (2016)
Michael Laskey, Jonathan Lee, Caleb Chuck, David V. Gealy, Wesley Yu-Shu Hsieh, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg
Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations. CASE (2016)
Adithyavairavan Murali, Animesh Garg, Sanjay Krishnan, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg
TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. ICRA (2016)
Florian T. Pokorny, Ken Goldberg, Danica Kragic
Topological trajectory clustering with relative persistent homology. ICRA (2016)
Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg
High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology. ICRA (2016)
Florian T. Pokorny, Majd Hawasly, Subramanian Ramamoorthy
Topological trajectory classification with filtrations of simplicial complexes and persistent homology. Int. J. Robotics Res. 35 (1-3) (2016)
Jeffrey Mahler, Florian T. Pokorny, Zoe McCarthy, A. Frank van der Stappen, Ken Goldberg
Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes. IEEE Robotics Autom. Lett. 1 (1) (2016)
Kaiyu Hang, Miao Li, Johannes A. Stork, Yasemin Bekiroglu, Florian T. Pokorny, Aude Billard, Danica Kragic
Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation. IEEE Trans. Robotics 32 (4) (2016)
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg
SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. WAFR (2016)
Florian T. Pokorny, Yasemin Bekiroglu, Karl Pauwels, Judith Bütepage, Clara Scherer, Danica Kragic
CapriDB - Capture, Print, Innovate: A Low-Cost Pipeline and Database for Reproducible Manipulation Research. CoRR (2016)
Jeffrey Mahler, Florian T. Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Kröger, James J. Kuffner, Ken Goldberg
Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards. ICRA (2016)
Jeffrey Mahler, Brian Hou, Sherdil Niyaz, Florian T. Pokorny, Ramu Chandra, Ken Goldberg
Privacy-preserving Grasp Planning in the Cloud. CASE (2016)
Majd Hawasly, Florian T. Pokorny, Subramanian Ramamoorthy
Estimating Activity at Multiple Scales using Spatial Abstractions. CoRR (2016)
Anastasiia Varava, Danica Kragic, Florian T. Pokorny
Caging Grasps of Rigid and Partially Deformable 3-D Objects With Double Fork and Neck Features. IEEE Trans. Robotics 32 (6) (2016)
Andrea Baisero, Florian T. Pokorny, Carl Henrik Ek
On a Family of Decomposable Kernels on Sequences. CoRR (2015)
Mikael Vejdemo-Johansson, Florian T. Pokorny, Primoz Skraba, Danica Kragic
Cohomological learning of periodic motion. Appl. Algebra Eng. Commun. Comput. 26 (1-2) (2015)
Florian T. Pokorny, Danica Kragic
Data-Driven Topological Motion Planning with Persistent Cohomology. Robotics: Science and Systems (2015)
Michael Laskey, Jeffrey Mahler, Zoe McCarthy, Florian T. Pokorny, Sachin Patil, Jur P. van den Berg, Danica Kragic, Pieter Abbeel, Ken Goldberg
Multi-armed bandit models for 2D grasp planning with uncertainty. CASE (2015)
Florian T. Pokorny, Yasemin Bekiroglu, Danica Kragic
Grasp moduli spaces and spherical harmonics. ICRA (2014)
Florian T. Pokorny, Majd Hawasly, Subramanian Ramamoorthy
Multiscale Topological Trajectory Classification with Persistent Homology. Robotics: Science and Systems (2014)
Kaiyu Hang, Johannes A. Stork, Florian T. Pokorny, Danica Kragic
Combinatorial optimization for hierarchical contact-level grasping. ICRA (2014)
Dmitry Zarubin, Florian T. Pokorny, Marc Toussaint, Danica Kragic
Caging complex objects with geodesic balls. IROS (2013)
Andrea Baisero, Florian T. Pokorny, Danica Kragic, Carl Henrik Ek
The Path Kernel. ICPRAM (2013)
Cheng Zhang, Carl Henrik Ek, Xavi Gratal, Florian T. Pokorny, Hedvig Kjellström
Supervised Hierarchical Dirichlet Processes with Variational Inference. ICCV Workshops (2013)
Johannes A. Stork, Florian T. Pokorny, Danica Kragic
Integrated motion and clasp planning with virtual linking. IROS (2013)
Andrea Baisero, Florian T. Pokorny, Danica Kragic, Carl Henrik Ek
The Path Kernel: A Novel Kernel for Sequential Data. ICPRAM (Selected Papers) (2013)
Kaiyu Hang, Florian T. Pokorny, Danica Kragic
Friction coefficients and grasp synthesis. IROS (2013)
Florian T. Pokorny, Johannes A. Stork, Danica Kragic
Grasping objects with holes: A topological approach. ICRA (2013)
Florian T. Pokorny, Danica Kragic
Classical grasp quality evaluation: New algorithms and theory. IROS (2013)
Florian T. Pokorny, Kaiyu Hang, Danica Kragic
Grasp Moduli Spaces. Robotics: Science and Systems (2013)
Florian T. Pokorny, Carl Henrik Ek, Hedvig Kjellström, Danica Kragic
Persistent Homology for Learning Densities with Bounded Support. NIPS (2012)