Ville Kyrki

Ville Kyrki
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Ville Kyrki
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Computer Science - Robotics (2)

Publications Authored By Ville Kyrki

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e. Read More

This paper investigates manipulation of multiple unknown objects in a crowded environment. Because of incomplete knowledge due to unknown objects and occlusions in visual observations, object observations are imperfect and action success is uncertain, making planning challenging. We model the problem as a partially observable Markov decision process (POMDP), which allows a general reward based optimization objective and takes uncertainty in temporal evolution and partial observations into account. Read More