17 citations · 58 across the 34 of their papers we have counts for
40 papers
A Decade of Learning-Based Control: From Theoretic Foundations to Practical Deployment
Angela P. Schoellig, Matthias A. Müller, Sebastian Trimpe +8
Motivated by ten years of Learning-Based Control Invited Sessions at the IEEE Conference on Decision and Control (CDC), this tutorial paper reviews key advances at the intersection…
Learning from Demonstrations Meets Symbolic Control - A Supervisory Control Architecture for Formal Certification of Learned Motion
Ashok Kumar, Mahathi Anand, Angela P. Schoellig +2
Dynamical system (DS)-based learning from demonstration generates flexible robot motions, but existing guarantees rely on certificate generation to obtain formal guarantees of safe…
UWB Meets Crazyflow: Simulating Degraded Feedback at Scale for Aerial Robotics
Martin Schuck, Marcel P. Rath, Yufei Hua +3
In this work, we introduce Crazyflow, an accurate, differentiable simulator built on JAX. By leveraging jit compilation via XLA, Crazyflow unifies physics and control into a single…
ForceDelta-VLA: Distilling Force-Conditioned Action Corrections for Contact-Rich Manipulation
Ju Dong, Yu Fu, Jian Chen +9
Force-aware Vision-Language-Action (VLA) policies improve contact-rich manipulation, but typically combine task-level motion and contact-dependent adjustment in a single action pre…
Robotic Nonprehensile Object Transportation with a Hanging Tray
Adam Heins, Angela P. Schoellig
We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must move an object balanced on a tray from one location to another. In con…
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Xintong Du, Siqi Zhou, Angela P. Schoellig
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at t…
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Xintong Du, Jingxing Qian, Siqi Zhou +1
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion…
Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
Abhishek Goudar, Angela P. Schoellig
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using…
Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Abhishek Goudar, Angela P. Schoellig
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globa…
SQ-CBF: Signed Distance Functions for Reliable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions (CBFs) provide an effective framework for real-…
scipy.spatial.transform: Differentiable Framework-Agnostic 3D Transformations in Python
Martin Schuck, Alexander von Rohr, Angela P. Schoellig
Three-dimensional rigid-body transforms, i.e. rotations and translations, are central to modern differentiable machine learning pipelines in robotics, vision, and simulation. Howev…
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Francesco D'Orazio, Sepehr Samavi, Xintong Du +3
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…
Improving Drone Racing Performance Through Iterative Learning MPC
Haocheng Zhao, Niklas Schlüter, Lukas Brunke +1
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model…
Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
Benjamin Bogenberger, Oliver Harrison, Orrin Dahanaggamaarachchi +4
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform…
Deploying SICNav in the Field: Safe and Interactive Crowd Navigation using MPC and Bilevel Optimization
Sepehr Samavi, Garvish Bhutani, Florian Shkurti +1
Safe and efficient navigation in crowded environments remains a critical challenge for robots that provide a variety of service tasks such as food delivery or autonomous wheelchair…
Addressing Relative Degree Issues in Control Barrier Function Synthesis with Physics-Informed Neural Networks
Lukas Brunke, Siqi Zhou, Francesco D'Orazio +1
In robotics, control barrier function (CBF)-based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF var…
SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictions
Sepehr Samavi, Anthony Lem, Fumiaki Sato +5
To navigate crowds without collisions, robots must interact with humans by forecasting their future motion and reacting accordingly. While learning-based prediction models have sho…
ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion
Federico Pizarro Bejarano, Bryson Jones, Daniel Pastor Moreno +3
Diffusion models have revolutionized imitation learning, allowing robots to replicate complex behaviours. However, diffusion often relies on cameras and other exteroceptive sensors…
Targeted Hard Sample Synthesis Based on Estimated Pose and Occlusion Error for Improved Object Pose Estimation
Alan Li, Angela P. Schoellig
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, wh…
Ultra-wideband Time Difference of Arrival Indoor Localization: From Sensor Placement to System Evaluation
Wenda Zhao, Abhishek Goudar, Mingliang Tang +1
Wireless indoor localization has attracted significant research interest due to its high accuracy, low cost, lightweight design, and low power consumption. Specifically, ultra-wide…
SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
Martin Schuck, Dinushka Orrin Dahanaggamaarachchi, Ben Sprenger +3
Drone swarm performances -- synchronized, expressive aerial displays set to music -- have emerged as a captivating application of modern robotics. Yet designing smooth, safe choreo…
Safety Filtering While Training: Improving the Performance and Sample Efficiency of Reinforcement Learning Agents
Federico Pizarro Bejarano, Lukas Brunke, Angela P. Schoellig
Reinforcement learning (RL) controllers are flexible and performant but rarely guarantee safety. Safety filters impart hard safety guarantees to RL controllers while maintaining fl…
Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
Adam Heins, Angela P. Schoellig
We consider the nonprehensile object transportation task known as the waiter's problem - in which a robot must move an object on a tray from one location to another - when the tran…
Flying through Moving Gates without Full State Estimation
Ralf Römer, Tim Emmert, Angela P. Schoellig
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes st…