1 citations · 1 across the 18 of their papers we have counts for
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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…
Constrained Variational Inference via Safe Particle Flow
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
We propose a control barrier function (CBF) formulation for enforcing equality and inequality constraints in variational inference. The key idea is to define a barrier functional o…
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…
Variational Formulation of Particle Flow
Yinzhuang Yi, Jorge Cortés, Nikolay Atanasov
This paper provides a formulation of the log-homotopy particle flow from the perspective of variational inference. We show that the transient density used to derive the particle fl…
Safe Control of Second-Order Systems with Linear Constraints
Mohammed Alyaseen, Nikolay Atanasov, Jorge Cortes
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given…
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…