5 citations · 14 across the 6 of their papers we have counts for
8 papers
MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization
Yuhan Hu, Hugues Thomas, Peide Huang +3
To operate effectively across diverse contexts, robots must not only perform manipulation tasks accurately but also adapt how their actions unfold to the task, object, and interact…
Lyapunov-stable neural-network control
Hongkai Dai, Benoit Landry, Lujie Yang +2
Deep learning has had a far reaching impact in robotics. Specifically, deep reinforcement learning algorithms have been highly effective in synthesizing neural-network controllers…
Vision-based Autonomous Disinfection of High Touch Surfaces in Indoor Environments
Sean Roelofs, Benoit Landry, Myra Kurosu Jalil +4
Autonomous systems have played an important role in response to the Covid-19 pandemic. Notably, there have been multiple attempts to leverage Unmanned Aerial Vehicles (UAVs) to dis…
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…
A Differentiable Augmented Lagrangian Method for Bilevel Nonlinear Optimization
Benoit Landry, Zachary Manchester, Marco Pavone
Many problems in modern robotics can be addressed by modeling them as bilevel optimization problems. In this work, we leverage augmented Lagrangian methods and recent advances in a…
Reduced Order Model Predictive Control For Setpoint Tracking
Joseph Lorenzetti, Benoit Landry, Sumeet Singh +1
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a larg…