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8 results on '"Stocco, Paula"'

1. Addressing Myopic Constrained POMDP Planning with Recursive Dual Ascent

Author

Stocco, Paula, Chundi, Suhas, Jamgochian, Arec, and Kochenderfer, Mykel J.

Subjects
Computer Science - Artificial Intelligence
Abstract

Lagrangian-guided Monte Carlo tree search with global dual ascent has been applied to solve large constrained partially observable Markov decision processes (CPOMDPs) online. In this work, we demonstrate that these global dual parameters can lead to myopic action selection during exploration, ultimately leading to suboptimal decision making. To address this, we introduce history-dependent dual variables that guide local action selection and are optimized with recursive dual ascent. We empirically compare the performance of our approach on a motivating toy example and two large CPOMDPs, demonstrating improved exploration, and ultimately, safer outcomes., Comment: Accepted to the 2024 International Conference on Automated Planning and Scheduling (ICAPS)

Published
2024

2. AcroMonk: A Minimalist Underactuated Brachiating Robot

Author

Javadi, Mahdi, Harnack, Daniel, Stocco, Paula, Kumar, Shivesh, Vyas, Shubham, Pizzutilo, Daniel, and Kirchner, Frank

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can broaden the deployment scenarios for humanoids and animaloids. While several brachiating robots of varying complexity have been proposed in the past, this paper presents the simplest possible prototype of a brachiation robot, using only a single actuator and unactuated grippers. The novel passive gripper design allows it to snap on and release from monkey bars, while guaranteeing well defined start and end poses of the swing. The brachiation behavior is realized in three different ways, using trajectory optimization via direct collocation and stabilization by a model-based time-varying linear quadratic regulator (TVLQR) or model-free proportional derivative (PD) control, as well as by a reinforcement learning (RL) based control policy. The three control schemes are compared in terms of robustness to disturbances, mass uncertainty, and energy consumption. The system design and controllers have been open-sourced. Due to its minimal and open design, the system can serve as a canonical underactuated platform for education and research., Comment: The open-source implementation is available at https://github.com/dfki-ric-underactuated-lab/acromonk and a video demonstration of the experiments can be accessed at https://youtu.be/FIcDNtJo9Jc}

Published
2023
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5. Análise AS-IS do processo produtivo de uma pequena empresa: aplicações do mapa de fluxo de valor e indicadores de desempenho.

Author

Vasconcelos Stocco, Paula and Sayuri Kurumoto, Juliana

Abstract

Copyright of GeSec: Revista de Gestao e Secretariado is the property of Sindicato das Secretarias e Secretarios do Estado de Sao Paulo (SINSESP) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Published
2023
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7. Sistemas Lean - Volume 1

Author

Ferreira, Renata, primary, Gonçalves, Layra Gabriela, additional, Alfonso, Taís Oliveira da Silva, additional, Pinheiro, Hiasmin Amaral, additional, Venturini, Simone Ferigolo, additional, Xavier, Amanda da Silva, additional, Silva, Andersson Alves da, additional, Sabino, Emerson Rodrigues, additional, Feitosa, Amanda Duarte, additional, Ribeiro, Taynara Siebra, additional, Januário, Thays Lorranny da Silva, additional, Pagnossin, Lucas Gonçalves, additional, Baierle, Ismael Cristofer, additional, Roos, Cristiano, additional, Brandão, Fernando Cesar, additional, Portes, Paula Camila Dias, additional, Silva, Rosangela da Rosa da, additional, Okumura, Jorge, additional, Vinotti, Carlos Antônio, additional, Santos, Ismael Luiz dos, additional, Okumura, Maria Lucia Miyake, additional, Canciglieri Junior, Osiris, additional, Vicente, Tiana Leal, additional, Almeida, Maria Aparecida Fernandes, additional, Nunan, Carolina dos Santos, additional, Bastos, Lorena Bittencourt, additional, Witeck, Gabriela da Rosa, additional, Adami, José Wianey, additional, Oliveira, Jardel Santos de, additional, Paladini, Edson Pacheco, additional, Rosa, Anna Leticia Teixeira, additional, Belarmino, Riana Auxiliadora Nunes, additional, Ribeiro, Érika Cristina, additional, Souza, Luciana Aparecida de, additional, Carvalho, Cleginaldo Pereira de, additional, Almeida, Alice Rodrigues, additional, Araújo, Camila Farias, additional, Uepcoski, Fernanda Rolim, additional, Staedele, André Eduardo, additional, Fettermann, Diego, additional, Forcellini, Fernando Antônio, additional, Scolaro, Taylana Piccinini, additional, Domingos, Renata Mansuelo Alves, additional, Pereira, Guilherme Maranhão Barreto, additional, Tortorella, Guilherme Luz, additional, Stocco, Paula Vasconcelos, additional, Kurumoto, Juliana Sayuri, additional, Bueno, Wagner Pietrobelli, additional, Fernandes, Eduardo da Silva, additional, Benitez, Guilherme, additional, Gayer, Bruna Dones, additional, Marcon, Arthur, additional, Marcon, Érico, additional, Pagliosa, Marcos Malinverni, additional, Ferreira, João Carlos Espíndola, additional, Cota, Cleber Henrique, additional, Abreu, Fábio Silva, additional, Cruz, Maicon Sulivan da, additional, Almeida, Rafaelle de Oliveira, additional, Silva, Wilson Luigi, additional, Souza, Luana Ferraz de, additional, Carvalho, Alessandra Lopes, additional, Faria, Danielle Brey-Gil, additional, Maciel, César Augusto Figueiredo, additional, Schaefer, Jones Luís, additional, Moraes, Jaqueline de, additional, Burin, Heloísa Pereira, additional, Thomas, Johanna Dreher, additional, Muller, Laurent, additional, Figueiredo, Francisca Jeanne Sidrim de, additional, Silva, Thais Cadete da, additional, Toledo, Lucas Verzenhassi, additional, Moraes, Matheus de, additional, Correr, Ivan, additional, Sales Júnior, José Leodoro, additional, Serra, Mayanne Camara, additional, Vieira, Ana Célia Silva, additional, Rodrigues, Alyson da Luz Pereira, additional, Pinheiro, Eduardo Mendonça, additional, Dourado, Eduardo Carvalho, additional, Carvalho, Juliana Barbosa de, additional, Pinheiro, Samantha Coelho, additional, Avelar, Andréa de Freitas, additional, Carvalho, Michele Tereza Marques, additional, and Lemos, Virley Souza, additional

Published
2018
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