1 citations · 1 across the 2 of their papers we have counts for
8 papers
SERF: Spatiotemporal Environment and Robot Feature Map for Long-Horizon Mobile Manipulation
Sunghwan Kim, Byeonghyun Pak, Kehan Long +2
Long-horizon robot mobile manipulation requires continual reasoning about localization, environment changes, and task progress, all of which are challenging to infer from image obs…
Neural Configuration-Space Barriers for Manipulation Planning and Control
Kehan Long, Ki Myung Brian Lee, Nikola Raicevic +3
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent adv…
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavo…
Certifying Stability of Reinforcement Learning Policies using Generalized Lyapunov Functions
Kehan Long, Jorge Cortés, Nikolay Atanasov
Establishing stability certificates for closed-loop systems under reinforcement learning (RL) policies is essential to move beyond empirical performance and offer guarantees of sys…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
BR-MPPI: Barrier Rate guided MPPI for Enforcing Multiple Inequality Constraints with Learned Signed Distance Field
Hardik Parwana, Taekyung Kim, Kehan Long +4
Model Predictive Path Integral (MPPI) controller is used to solve unconstrained optimal control problems and Control Barrier Function (CBF) is a tool to impose strict inequality co…