32 citations · 38 across the 17 of their papers we have counts for
18 papers
A Unified Perspective on Conformal Prediction and Wasserstein Distributionally Robust Optimization for Uncertainty Quantification
Kehan Long, Yiqi Zhao, Pol Mestres +3
Uncertainty quantification from finite data is central to machine learning, optimization, and automation systems, where decisions must remain reliable under limited samples and tes…
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavo…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
BR-MPPI: Barrier-Rate Guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Fields
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) control provides a sampling-based framework for optimal control, while Control Barrier Functions (CBFs) provide a principled means of enforcin…
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
Kehan Long, Jorge Cortés, Nikolay Atanasov
Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of sys…
Neural Configuration-Space Barriers for Manipulation Planning and Control
Kehan Long, Ki Myung Brian Lee, Nikola Raicevic +3
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent adv…
Neural Configuration Distance Function for Continuum Robot Control
Kehan Long, Hardik Parwana, Georgios Fainekos +3
This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance fields…
Stabilization of Nonlinear Systems through Control Barrier Functions
Pol Mestres, Kehan Long, Melvin Leok +2
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lya…
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…
Distributionally Robust Policy and Lyapunov-Certificate Learning
Kehan Long, Jorge Cortes, Nikolay Atanasov
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key chal…
Feasibility Analysis and Regularity Characterization of Distributionally Robust Safe Stabilizing Controllers
Pol Mestres, Kehan Long, Nikolay Atanasov +1
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the sy…
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
Kehan Long, Khoa Tran, Melvin Leok +1
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a poly…
Distributionally Robust Lyapunov Function Search Under Uncertainty
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper develops methods for proving Lyapunov stability of dynamical systems subject to disturbances with an unknown distribution. We assume only a finite set of disturbance sam…
Safe and Stable Control Synthesis for Uncertain System Models via Distributionally Robust Optimization
Kehan Long, Yinzhuang Yi, Jorge Cortes +1
This paper considers enforcing safety and stability of dynamical systems in the presence of model uncertainty. Safety and stability constraints may be specified using a control bar…
Safe Control Synthesis with Uncertain Dynamics and Constraints
Kehan Long, Vikas Dhiman, Melvin Leok +2
This paper considers safe control synthesis for dynamical systems with either probabilistic or worst-case uncertainty in both the dynamics model and the safety constraints. We form…
Learning Barrier Functions with Memory for Robust Safe Navigation
Kehan Long, Cheng Qian, Jorge Cortés +1
Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synth…
Learning to Communicate: A Machine Learning Framework for Heterogeneous Multi-Agent Robotic Systems
Hyung-Jin Yoon, Huaiyu Chen, Kehan Long +4
We present a machine learning framework for multi-agent systems to learn both the optimal policy for maximizing the rewards and the encoding of the high dimensional visual observat…