3 papers
cs.RO2026
Manipulation via Force Distribution at Contact
Haegu Lee, Yitaek Kim, Casper Hewson Rask +1
Efficient and robust trajectories play a crucial role in contact-rich manipulation, which demands accurate mod- eling of object-robot interactions. Many existing approaches rely on…
eess.SY2025
Towards Data-Driven Model-Free Safety-Critical Control
Zhe Shen, Yitaek Kim, Christoffer Sloth
This paper presents a framework for enabling safe velocity control of general robotic systems using data-driven model-free Control Barrier Functions (CBFs). Model-free CBFs rely on…
cs.RO2025
Imitation Learning-Based Path Generation for the Complex Assembly of Deformable Objects
Yitaek Kim, Christoffer Sloth
This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manip…