2 citations · 3 across the 26 of their papers we have counts for
11 papers · 1 filter
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5
Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may violate deployment constraints. For task-space robot policies, generated…
Robust Adaptive Predictive Control for Hook-Based Aerial Transportation Between Moving Platforms
Péter Antal, Andrea Carron, Melanie Zeilinger +2
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accur…
VISION-SLS: Safe Perception-Based Control from Learned Visual Representations via System Level Synthesis
Antoine P. Leeman, Shuyu Zhan, Melanie N. Zeilinger +1
We propose VISION-SLS, a method for nonlinear output-feedback control from high-resolution RGB images which provides robust constraint satisfaction guarantees under calibrated unce…
An MPC framework for efficient navigation of mobile robots in cluttered environments
Johannes Köhler, Daniel Zhang, Raffaele Soloperto +2
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortes…
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
Rahel Rickenbach, Alan A. Lahoud, Erik Schaffernicht +2
The computational burden of model predictive control (MPC) limits its application on real-time systems, such as robots, and often requires the use of short prediction horizons. Thi…
DEMONSTRATE: Zero-shot Language to Robotic Control via Multi-task Demonstration Learning
Rahel Rickenbach, Bruce Lee, René Zurbrügg +2
The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator.…