13 citations · 17 across the 10 of their papers we have counts for
12 papers
CSymPlan: Certified Symbolic Planning and Control for High-DOF Manipulators
Aditya Narendra, Ashok Kumar Saini, Mahathi Anand +3
Robot manipulators are commonly engineered around a decoupled motion-generation stack: a planner computes a collision-free path and a lower-level controller tracks the resulting re…
GVLA: Geometric inductive bias for Vision-Language-Action Models
Yue Peng, Yongzhe Zhao, Artur Habuda +5
Vision-language-action (VLA) models have made rapid progress in generalist robot manipulation by harnessing semantic knowledge from pretrained vision-language backbones, but their…
Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs
Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali +3
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aeri…
Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy
Hozefa Jesawada, Giovanni Russo, Abdalla Swikir +1
A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the…
K-VARK: Kernelized Variance-Aware Residual Kalman Filter for Sensorless Force Estimation in Collaborative Robots
Oğuzhan Akbıyık, Naseem Alhousani, Fares J. Abu-Dakka
Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation r…
Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning
Allen Emmanuel Binny, Mahathi Anand, Hugo T. M. Kussaba +4
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper,…