2 citations · 3 across the 9 of their papers we have counts for
9 papers
PAC-DP: PAC-Bayesian Diffusion Policy Learning
Mohammad Hasan Yeganegi, Dian Yu, Andrea Del Prete +2
Diffusion Policies (DPs) are able to perform complex manipulation tasks. However, DPs are typically trained by minimizing a denoising objective, which provides limited control over…
PPO-EAL: Exact Augmented Lagrangian Proximal Policy Optimization for Safe Robotic Control
Jiatao Ding, Songqun Gao, Andrea Del Prete +1
Reinforcement learning (RL) has emerged as a promising solution to accomplish complex robotic control tasks; however, most of the current work ignores the safety requirements. Safe…
Parallel-Constraint Model Predictive Control: Exploiting Parallel Computation for Improving Safety
Elias Fontanari, Gianni Lunardi, Matteo Saveriano +1
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint pos…
Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterisation with a Collaborative Robotic Arm
Luca Beber, Edoardo Lamon, Giacomo Moretti +4
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their pr…
Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
Gennaro Notomista, Gary P. T. Choi, Matteo Saveriano
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot worksp…
Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set
Gianni Lunardi, Asia La Rocca, Matteo Saveriano +1
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an expone…
A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems
Youssef Michel, Matteo Saveriano, Dongheui Lee
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control appr…
VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control
Asia La Rocca, Matteo Saveriano, Andrea Del Prete
Safety is often the most important requirement in robotics applications. Nonetheless, control techniques that can provide safety guarantees are still extremely rare for nonlinear s…
Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions
Gennaro Notomista, Matteo Saveriano
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategi…