12 citations · 13 across the 5 of their papers we have counts for
5 papers
Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
Kasra Sinaei, Kasun Weerakoon, Christopher Bradley +2
Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. T…
Safe Vision Language Action Models via Barrier Enhanced Flow Matching
Kasra Sinaei, Hung-Chieh Wu, Donald Ebeigbe
This article presents a modular inference framework that integrates Flow Matching generative models with formal Control Barrier Function (CBF) safety guarantees. Unlike existing me…
StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance
Hung-Chieh Wu, Xiaopan Zhang, Kasra Sinaei +6
This paper proposes StratMamba, a dual-stream Mamba-based temporal modeling architecture, to more efficiently capture long-horizon temporal dependencies required for robot navigati…
A Generalized Unscented Transformation for Probability Distributions
Donald Ebeigbe, Tyrus Berry, Michael M. Norton +4
The unscented transform uses a weighted set of samples called sigma points to propagate the means and covariances of nonlinear transformations of random variables. However, unscent…
A Poisson Kalman filter for disease surveillance
Donald Ebeigbe, Tyrus Berry, Steven J. Schiff +1
An optimal filter for Poisson observations is developed as a variant of the traditional Kalman filter. Poisson distributions are characteristic of infectious diseases, which model…