4 papers · 1 filter
Rethinking Safety for Generalist Robots
Rohan Sinha, Anushri Dixit, Ran Tian +2
Generalist robots promise to transform our society: the same system that prepares a meal or folds laundry might also repair a car, inspect infrastructure, or care for a loved one.…
Closing the Loop on Runtime Monitors with Fallback-Safe MPC
Rohan Sinha, Edward Schmerling, Marco Pavone
When we rely on deep-learned models for robotic perception, we must recognize that these models may behave unreliably on inputs dissimilar from the training data, compromising the…
Adaptive Robust Model Predictive Control via Uncertainty Cancellation
Rohan Sinha, James Harrison, Spencer M. Richards +1
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally…
Adaptive Robust Model Predictive Control with Matched and Unmatched Uncertainty
Rohan Sinha, James Harrison, Spencer M. Richards +1
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally…