6 papers
Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
Clinton Enwerem, John S. Baras, Calin Belta
Mainstream plan-then-track approaches to multifingered grasp execution entail selecting a grasp, planning a collision-free trajectory, and tracking the resulting trajectory via a f…
FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis
Clinton Enwerem, John S. Baras, Calin Belta
Classical grasp quality metrics assume one deterministic friction coefficient and therefore cannot assess whether a grasp maintains force closure across plausible friction values.…
EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows
Clinton Enwerem, John S. Baras, Calin Belta
Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable p…
IDDMBSE: Integrating Data-Driven and Model-Based Systems Engineering for Trusted Autonomous Cyber-Physical Systems
John S. Baras, Sai Sandeep Damera, Ryan Matheu +2
Autonomous cyber-physical systems (CPS) sit at the intersection of Model-Based Systems Engineering (MBSE) and data-driven Machine Learning and Artificial Intelligence (ML/AI), yet…
Safety-Aware Reinforcement Learning for Control via Risk-Sensitive Action-Value Iteration and Quantile Regression
Clinton Enwerem, Aniruddh G. Puranic, John S. Baras +1
Mainstream approximate action-value iteration reinforcement learning (RL) algorithms suffer from overestimation bias, leading to suboptimal policies in high-variance stochastic env…
Robust Stochastic Shortest-Path Planning via Risk-Sensitive Incremental Sampling
Clinton Enwerem, Erfaun Noorani, John S. Baras +1
With the pervasiveness of Stochastic Shortest-Path (SSP) problems in high-risk industries, such as last-mile autonomous delivery and supply chain management, robust planning algori…