44 citations · 59 across the 27 of their papers we have counts for
13 papers · 1 filter
GGraph: A GPU-Accelerated Library for Graph-Based Robot Deployment and Learning
Yash Rampuria, Rohan Garg, Daniele Gammelli +1
Autonomous mobile robots require spatial representations that capture geometry and semantics while staying sparse enough for planning in large, unknown environments. Graphs provide…
Filter-Aware Fine-Tuning for Safe Humanoid Whole-Body Tracking
Pranit Mohnot, Christian Helten, Daniele Gammelli +1
Safe whole-body motion is essential for deploying humanoid robots in unstructured environments. Modern humanoid control commonly separates reference specification from execution, w…
OrbitTAMP: Grounding Language Models for Task and Motion Planning in Spacecraft Rendezvous
Yuji Takubo, Daniele Gammelli, Marco Pavone +1
Spacecraft rendezvous and proximity operations (RPO) are currently planned through an expertise-intensive process in which engineers translate high-level operational intent into sa…
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Do Vision-Language-Action Models Mean What They Say? On the Role of Faithfulness in Embodied Reasoning
Matthew Foutter, Matteo Cercola, Lena Wild +4
Embodied Chain-of-Thought has emerged as a promising mechanism to enhance robot decision-making and interpretability in black-box Vision-Language Action (VLA) models. However, whet…
Graph Neural Model Predictive Control for High-Dimensional Systems
Patrick Benito Eberhard, Luis Pabon, Daniele Gammelli +5
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents…
Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous
Yuji Takubo, Arpit Dwivedi, Sukeerth Ramkumar +4
Reliable real-time trajectory generation is essential for future autonomous spacecraft. While recent progress in nonconvex guidance and control is paving the way for onboard autono…
GRAND: Guidance, Rebalancing, and Assignment for Networked Dispatch in Multi-Agent Path Finding
Johannes Gaber, Meshal Alharbi, Daniele Gammelli +1
Large robot fleets are now common in warehouses and other logistics settings, where small control gains translate into large operational impacts. In this article, we address task s…
Reproducibility in the Control of Autonomous Mobility-on-Demand Systems
Xinling Li, Meshal Alharbi, Daniele Gammelli +7
Autonomous Mobility-on-Demand (AMoD) systems, powered by advances in robotics, control, and Machine Learning (ML), offer a promising paradigm for future urban transportation. AMoD…
Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling
Davide Celestini, Daniele Gammelli, Tommaso Guffanti +3
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. H…
Generalizable Spacecraft Trajectory Generation via Multimodal Learning with Transformers
Davide Celestini, Amirhossein Afsharrad, Daniele Gammelli +6
Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for so…
Space-LLaVA: a Vision-Language Model Adapted to Extraterrestrial Applications
Matthew Foutter, Daniele Gammelli, Justin Kruger +5
Foundation Models (FMs), e.g., large language models, possess attributes of intelligence which offer promise to endow a robot with the contextual understanding necessary to navigat…
Transformers for Trajectory Optimization with Application to Spacecraft Rendezvous
Tommaso Guffanti, Daniele Gammelli, Simone D'Amico +1
Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hyperson…