4 citations · 9 across the 5 of their papers we have counts for
5 papers
Approximately Optimal Global Planning for Contact-Rich SE(2) Manipulation on a Graph of Reachable Sets
Simin Liu, Tong Zhao, Bernhard Paus Graesdal +5
If we consider human manipulation, it is clear that contact-rich manipulation (CRM)-the ability to use any surface of the manipulator to make contact with objects-can be far more e…
Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods
Xusheng Luo, Tianhao Wei, Simin Liu +6
This work addresses the certification of the local robustness of vision-based two-stage 6D object pose estimation. The two-stage method for object pose estimation achieves superior…
Synthesis and verification of robust-adaptive safe controllers
Simin Liu, Kai S. Yun, John M. Dolan +1
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a ge…
Safe Control Under Input Limits with Neural Control Barrier Functions
Simin Liu, Changliu Liu, John Dolan
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method…
Safety Index Synthesis via Sum-of-Squares Programming
Weiye Zhao, Tairan He, Tianhao Wei +2
Control systems often need to satisfy strict safety requirements. Safety index provides a handy way to evaluate the safety level of the system and derive the resulting safe control…