6 citations · 14 across the 25 of their papers we have counts for
6 papers · 2 filters
DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration
Ola Shorinwa, Matthew Devlin, Elliot W. Hawkes +1
We present DisCo, a distributed algorithm for contact-rich, multi-robot tasks. DisCo is a distributed contact-implicit trajectory optimization algorithm, which allows a group of ro…
SAFER-Splat: A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
Timothy Chen, Aiden Swann, Javier Yu +4
SAFER-Splat (Simultaneous Action Filtering and Environment Reconstruction) is a real-time, scalable, and minimally invasive action filter, based on control barrier functions, for s…
Safe, Out-of-Distribution-Adaptive MPC with Conformalized Neural Network Ensembles
Jose Leopoldo Contreras, Ola Shorinwa, Mac Schwager
We present SODA-MPC, a Safe, Out-of-Distribution-Adaptive Model Predictive Control algorithm, which uses an ensemble of learned models for prediction, with a runtime monitor to fla…
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
Ola Shorinwa, Johnathan Tucker, Aliyah Smith +5
We present Splat-MOVER, a modular robotics stack for open-vocabulary robotic manipulation, which leverages the editability of Gaussian Splatting (GSplat) scene representations to e…
Perceive With Confidence: Statistical Safety Assurances for Navigation with Learning-Based Perception
Zhiting Mei, Anushri Dixit, Meghan Booker +5
Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into ri…
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps
Timothy Chen, Ola Shorinwa, Joseph Bruno +6
We present Splat-Nav, a real-time robot navigation pipeline for Gaussian Splatting (GSplat) scenes, a powerful new 3D scene representation. Splat-Nav consists of two components: 1)…