7 papers
Hölder Signed Distance: A Differentiable, Signed, Parallelizable Metric for Robotics
Felipe Bartelt, Ali Umut Kaypak, Anthony Tzes +3
Computing distances between sets is essential in robotic motion planning and control, where differentiable gradients enable real-time optimization. The Euclidean Signed Distance Fu…
Open-Architecture End-to-End System for Real-World Autonomous Robot Navigation
Venkata Naren Devarakonda, Ali Umut Kaypak, Raktim Gautam Goswami +4
Enabling robots to autonomously navigate unknown, complex, and dynamic real-world environments presents several challenges, including imperfect perception, partial observability, l…
A Control Barrier Function-Constrained Model Predictive Control Framework for Safe Reinforcement Learning
Ali Umut Kaypak, Prashanth Krishnamurthy, Farshad Khorrami
Ensuring safety under unknown and stochastic dynamics remains a significant challenge in reinforcement learning (RL). In this paper, we propose a model predictive control (MPC)-bas…
RESCORE: LLM-Driven Simulation Recovery in Control Systems Research Papers
Vineet Bhat, Shiqing Wei, Ali Umut Kaypak +3
Reconstructing numerical simulations from control systems research papers is often hindered by underspecified parameters and ambiguous implementation details. We define the task of…
Safe Multi-Robotic Arm Interaction via 3D Convex Shapes
Ali Umut Kaypak, Shiqing Wei, Prashanth Krishnamurthy +1
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Or…
Grounding LLMs For Robot Task Planning Using Closed-loop State Feedback
Vineet Bhat, Ali Umut Kaypak, Prashanth Krishnamurthy +2
Planning algorithms decompose complex problems into intermediate steps that can be sequentially executed by robots to complete tasks. Recent works have employed Large Language Mode…