17 citations · 37 across the 9 of their papers we have counts for
5 papers · 1 filter
VIGOR-MPC: Vision-Guided Objective Regulation MPC
Jelena Trisovic, Rahel Rickenbach, Marek Landert +2
Controlling an agent in an environment solely perceived through onboard vision is challenging: perception yields noisy, variable-length, and partially occluded context, while onboa…
MOSAIC: Mode- and Support-Aware Inference-Time Control of Robot Diffusion Models
Sabrina Bodmer, Rahel Rickenbach, René Zurbrügg +2
Generative policies such as diffusion models provide expressive data-driven priors for robot behavior, yet the situations a robot faces at execution time rarely match its training…
ZipMPC: Compressed Context-Dependent MPC Cost via Imitation Learning
Rahel Rickenbach, Alan A. Lahoud, Erik Schaffernicht +2
The computational burden of model predictive control (MPC) limits its application on real-time systems, such as robots, and often requires the use of short prediction horizons. Thi…
DEMONSTRATE: Zero-shot Language to Robotic Control via Multi-task Demonstration Learning
Rahel Rickenbach, Bruce Lee, René Zurbrügg +2
The integration of large language models (LLMs) with control systems has demonstrated significant potential in various settings, such as task completion with a robotic manipulator.…
Chronos and CRS: Design of a miniature car-like robot and a software framework for single and multi-agent robotics and control
Andrea Carron, Sabrina Bodmer, Lukas Vogel +6
From both an educational and research point of view, experiments on hardware are a key aspect of robotics and control. In the last decade, many open-source hardware and software fr…