3 papers
cs.RO2026
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
Xinpei Ni, Melkior Ornik, Glen Chou +1
We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances…
cs.RO2025
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Yuki Shirai, Tong Zhao, H. J. Terry Suh +5
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesi…
cs.RO2025
Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
Huaijiang Zhu, Tong Zhao, Xinpei Ni +4
The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleopera…