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ORCIDFlorian T. Pokorny
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- affiliation: KTH Royal Institute of Technology, Centre for Autonomous Systems
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Journal Articles
- 2024
[j15]Yifei Dong
, Xianyi Cheng, Florian T. Pokorny:
Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis. IEEE Robotics Autom. Lett. 9(9): 7525-7532 (2024)- 2021
- [j14]Subhrajit Bhattacharya, Florian T. Pokorny, Howie Choset:
Guest Editorial: Special issue on "Topological methods in robotics". Auton. Robots 45(5): 611-612 (2021) - [j13]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): 613-631 (2021) - [j12]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): 647-664 (2021) - [j11]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) - [j10]Robert Gieselmann, Florian T. Pokorny:
Planning-Augmented Hierarchical Reinforcement Learning. IEEE Robotics Autom. Lett. 6(3): 5097-5104 (2021) - 2020
- [j9]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): 1302-1316 (2020) - 2019
- [j8]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) - 2018
- [j7]J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny:
An algorithm for calculating top-dimensional bounding chains. PeerJ Comput. Sci. 4: e153 (2018) - [j6]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): 908-918 (2018) - 2016
- [j5]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): 204-223 (2016) - [j4]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): 508-515 (2016) - [j3]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): 960-972 (2016) - [j2]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): 1479-1497 (2016) - 2015
- [j1]Mikael Vejdemo-Johansson, Florian T. Pokorny, Primoz Skraba, Danica Kragic:
Cohomological learning of periodic motion. Appl. Algebra Eng. Commun. Comput. 26(1-2): 5-26 (2015)
Conference and Workshop Papers
- 2024
- [c47]Yifei Dong, Florian T. Pokorny:
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects. ICRA 2024: 6513-6520 - [c46]Muhammad Zahid, Florian T. Pokorny:
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. ICRA 2024: 12076-12082 - 2023
- [c45]Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic:
An Efficient and Continuous Voronoi Density Estimator. AISTATS 2023: 4732-4744 - [c44]Robert Gieselmann, Florian T. Pokorny:
Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning. CoRL 2023: 1-22 - 2022
- [c43]Petra Poklukar, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic:
Delaunay Component Analysis for Evaluation of Data Representations. ICLR 2022 - [c42]Alexander Kravberg, Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic:
Active Nearest Neighbor Regression Through Delaunay Refinement. ICML 2022: 11650-11664 - [c41]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: 4492-4497 - [c40]Robert Gieselmann, Florian T. Pokorny:
Latent Planning via Expansive Tree Search. NeurIPS 2022 - [c39]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: 1644-1653 - 2021
- [c38]Ciwan Ceylan, Salla Franzén, Florian T. Pokorny:
Learning Node Representations Using Stationary Flow Prediction on Large Payment and Cash Transaction Networks. ICML 2021: 1395-1406 - [c37]Rita Laezza, Robert Gieselmann, Florian T. Pokorny, Yiannis Karayiannidis:
ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation. ICRA 2021: 4717-4723 - 2020
- [c36]Elon D. Rimon, Florian T. Pokorny, Weiwei Wan:
Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation. ICRA 2020: 1560-1566 - [c35]Robert Gieselmann, Florian T. Pokorny:
Standard Deep Generative Models for Density Estimation in Configuration Spaces: A Study of Benefits, Limits and Challenges. IROS 2020: 5238-5245 - [c34]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: 6148-6155 - [c33]Vladislav Polianskii, Florian T. Pokorny:
Voronoi Graph Traversal in High Dimensions with Applications to Topological Data Analysis and Piecewise Linear Interpolation. KDD 2020: 2154-2164 - 2019
- [c32]Vladislav Polianskii, Florian T. Pokorny:
Voronoi Boundary Classification: A High-Dimensional Geometric Approach via Weighted Monte Carlo Integration. ICML 2019: 5162-5170 - [c31]J. Frederico Carvalho, Mikael Vejdemo-Johansson, Florian T. Pokorny, Danica Kragic:
Long-term Prediction of Motion Trajectories Using Path Homology Clusters. IROS 2019: 765-772 - 2018
- [c30]J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny:
Path Clustering with Homology Area. ICRA 2018: 7346-7353 - [c29]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: 19-35 - 2017
- [c28]Majd Hawasly, Florian T. Pokorny, Subramanian Ramamoorthy:
Multi-scale Activity Estimation with Spatial Abstractions. GSI 2017: 273-281 - [c27]Anastasiia Varava, J. Frederico Carvalho, Florian T. Pokorny, Danica Kragic:
Caging and Path Non-existence: A Deterministic Sampling-Based Verification Algorithm. ISRR 2017: 589-604 - [c26]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 - 2016
- [c25]Jeffrey Mahler, Brian Hou, Sherdil Niyaz, Florian T. Pokorny, Ramu Chandra, Ken Goldberg:
Privacy-preserving Grasp Planning in the Cloud. CASE 2016: 468-475 - [c24]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: 827-834 - [c23]Florian T. Pokorny, Ken Goldberg, Danica Kragic:
Topological trajectory clustering with relative persistent homology. ICRA 2016: 16-23 - [c22]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: 24-31 - [c21]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: 462-469 - [c20]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: 1957-1964 - [c19]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: 4150-4157 - [c18]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: 216-223 - [c17]Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg:
Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology. WAFR 2016: 416-431 - [c16]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: 672-687 - 2015
- [c15]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: 572-579 - [c14]Florian T. Pokorny, Danica Kragic:
Data-Driven Topological Motion Planning with Persistent Cohomology. Robotics: Science and Systems 2015 - 2014
- [c13]Kaiyu Hang, Johannes A. Stork, Florian T. Pokorny, Danica Kragic:
Combinatorial optimization for hierarchical contact-level grasping. ICRA 2014: 381-388 - [c12]Florian T. Pokorny, Yasemin Bekiroglu, Danica Kragic:
Grasp moduli spaces and spherical harmonics. ICRA 2014: 389-396 - [c11]Florian T. Pokorny, Majd Hawasly, Subramanian Ramamoorthy:
Multiscale Topological Trajectory Classification with Persistent Homology. Robotics: Science and Systems 2014 - 2013
- [c10]Cheng Zhang, Carl Henrik Ek, Xavi Gratal, Florian T. Pokorny, Hedvig Kjellström:
Supervised Hierarchical Dirichlet Processes with Variational Inference. ICCV Workshops 2013: 254-261 - [c9]Andrea Baisero, Florian T. Pokorny, Danica Kragic, Carl Henrik Ek:
The Path Kernel. ICPRAM 2013: 50-57 - [c8]Andrea Baisero, Florian T. Pokorny, Danica Kragic, Carl Henrik Ek:
The Path Kernel: A Novel Kernel for Sequential Data. ICPRAM (Selected Papers) 2013: 71-84 - [c7]Florian T. Pokorny, Johannes A. Stork, Danica Kragic:
Grasping objects with holes: A topological approach. ICRA 2013: 1100-1107 - [c6]Dmitry Zarubin, Florian T. Pokorny, Marc Toussaint, Danica Kragic:
Caging complex objects with geodesic balls. IROS 2013: 2999-3006 - [c5]Johannes A. Stork, Florian T. Pokorny, Danica Kragic:
Integrated motion and clasp planning with virtual linking. IROS 2013: 3007-3014 - [c4]Florian T. Pokorny, Danica Kragic:
Classical grasp quality evaluation: New algorithms and theory. IROS 2013: 3493-3500 - [c3]Kaiyu Hang, Florian T. Pokorny, Danica Kragic:
Friction coefficients and grasp synthesis. IROS 2013: 3520-3526 - [c2]Florian T. Pokorny, Kaiyu Hang, Danica Kragic:
Grasp Moduli Spaces. Robotics: Science and Systems 2013 - 2012
- [c1]Florian T. Pokorny, Carl Henrik Ek, Hedvig Kjellström, Danica Kragic:
Persistent Homology for Learning Densities with Bounded Support. NIPS 2012: 1826-1834
Informal and Other Publications
- 2024
- [i24]Yifei Dong, Xianyi Cheng, Florian T. Pokorny:
Caging in Motion: Characterizing Robustness in Manipulation through Energy Margin and Dynamic Caging Analysis. CoRR abs/2404.12115 (2024) - [i23]Rafael I. Cabral Muchacho, Florian T. Pokorny:
Walk on Spheres for PDE-based Path Planning. CoRR abs/2406.01713 (2024) - [i22]Rafael I. Cabral Muchacho, Florian T. Pokorny:
Adaptive Distance Functions via Kelvin Transformation. CoRR abs/2406.03200 (2024) - [i21]Matti Vahs, Rafael I. Cabral Muchacho, Florian T. Pokorny, Jana Tumova:
Forward Invariance in Trajectory Spaces for Safety-critical Control. CoRR abs/2407.12624 (2024) - [i20]Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa, Jana Tumova, Florian T. Pokorny:
Co-Designing Tools and Control Policies for Robust Manipulation. CoRR abs/2409.11113 (2024) - [i19]Ruiyu Wang, Zheyu Zhuang, Shutong Jin, Nils Ingelhag, Danica Kragic, Florian T. Pokorny:
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies. CoRR abs/2409.20248 (2024) - [i18]Shutong Jin, Ruiyu Wang, Kuangyi Chen, Florian T. Pokorny:
PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement. CoRR abs/2410.22059 (2024) - 2023
- [i17]Yifei Dong, Florian T. Pokorny:
Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects. CoRR abs/2309.01224 (2023) - [i16]Muhammad Zahid, Florian T. Pokorny:
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. CoRR abs/2309.12786 (2023) - [i15]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 abs/2310.02044 (2023) - [i14]Shutong Jin, Ruiyu Wang, Florian T. Pokorny:
RealCraft: Attention Control as A Solution for Zero-shot Long Video Editing. CoRR abs/2312.12635 (2023) - 2022
- [i13]Petra Poklukar, Vladislav Polianskii, Anastasia Varava, Florian T. Pokorny, Danica Kragic:
Delaunay Component Analysis for Evaluation of Data Representations. CoRR abs/2202.06866 (2022) - [i12]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 abs/2203.01751 (2022) - [i11]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 abs/2206.08051 (2022) - [i10]Alexander Kravberg, Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic:
Active Nearest Neighbor Regression Through Delaunay Refinement. CoRR abs/2206.08061 (2022) - [i9]Giovanni Luca Marchetti, Vladislav Polianskii, Anastasiia Varava, Florian T. Pokorny, Danica Kragic:
An Efficient and Continuous Voronoi Density Estimator. CoRR abs/2210.03964 (2022) - 2021
- [i8]Andreas Orthey, Florian T. Pokorny, Marc Toussaint:
Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning. CoRR abs/2107.02498 (2021) - 2020
- [i7]Anastasiia Varava, J. Frederico Carvalho, Danica Kragic, Florian T. Pokorny:
Free Space of Rigid Objects: Caging, Path Non-Existence, and Narrow Passage Detection. CoRR abs/2002.02715 (2020) - 2017
- [i6]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 abs/1710.10089 (2017) - [i5]J. Frederico Carvalho, Mikael Vejdemo-Johansson, Danica Kragic, Florian T. Pokorny:
An algorithm for calculating top-dimensional bounding chains. PeerJ Prepr. 5: e3151 (2017) - 2016
- [i4]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 abs/1604.06508 (2016) - [i3]Majd Hawasly, Florian T. Pokorny, Subramanian Ramamoorthy:
Estimating Activity at Multiple Scales using Spatial Abstractions. CoRR abs/1607.07311 (2016) - [i2]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 abs/1610.05175 (2016) - 2015
- [i1]Andrea Baisero, Florian T. Pokorny, Carl Henrik Ek:
On a Family of Decomposable Kernels on Sequences. CoRR abs/1501.06284 (2015)
Coauthor Index
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