1 citations · 2 across the 22 of their papers we have counts for
9 papers · 1 filter
VLPSA: Vision-Language-Poisson-Safe Actions for Full-Body Safety of Learned Policies
Meg Wilkinson, Emily Fourney, Joel W. Burdick +1
Vision-language-action (VLA) models enable increasingly general-purpose robotic manipulation, but such learned policies do not provide safety guarantees for collision avoidance---e…
Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
Sergio A. Esteban, Jason H. K. Siu, Derrick Mach +4
Motion retargeting approaches often prioritize kinematic similarity over whole-body dynamics, contact consistency, and actuation limits, yielding references that are difficult for…
D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions
Erdi Sayar, Ersin Daş, Joel W. Burdick +2
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infe…
Full-Body Dynamic Safety for Robot Manipulators: 3D Poisson Safety Functions for CBF-Based Safety Filters
Meg Wilkinson, Gilbert Bahati, Ryan M. Bena +3
Collision avoidance for robotic manipulators requires enforcing full-body safety constraints in high-dimensional configuration spaces. Control Barrier Function (CBF) based safety f…
KALIKO: Kalman-Implicit Koopman Operator Learning For Prediction of Nonlinear Dynamical Systems
Albert H. Li, Ivan Dario Jimenez Rodriguez, Joel W. Burdick +2
Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena…
AI Space Cortex: An Experimental System for Future Era Space Exploration
Thomas Touma, Ersin Daş, Erica Tevere +9
Our Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO) effort contributes to NASA's Concepts for Ocean worlds Life Detection Technology (COLDTech) program, w…
Generative Predictive Control: Flow Matching Policies for Dynamic and Difficult-to-Demonstrate Tasks
Vince Kurtz, Joel W. Burdick
Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by…
Equality Constrained Diffusion for Direct Trajectory Optimization
Vince Kurtz, Joel W. Burdick
The recent success of diffusion-based generative models in image and natural language processing has ignited interest in diffusion-based trajectory optimization for nonlinear contr…
Bayesian Optimal Experimental Design for Robot Kinematic Calibration
Ersin Das, Thomas Touma, Joel W. Burdick
This paper develops a Bayesian optimal experimental design for robot kinematic calibration on . Our method builds upon a Gaussian process ap…