3 citations · 3 across the 8 of their papers we have counts for
4 papers · 1 filter
Multi-Timescale Model Predictive Control for Slow-Fast Systems
Lukas Schroth, Daniel Morton, Amon Lahr +3
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is cru…
Scan, Materialize, Simulate: A Generalizable Framework for Physically Grounded Robot Planning
Amine Elhafsi, Daniel Morton, Marco Pavone
Autonomous robots must reason about the physical consequences of their actions to operate effectively in unstructured, real-world environments. We present Scan, Materialize, Simula…
Real-Time Out-of-Distribution Failure Prevention via Multi-Modal Reasoning
Milan Ganai, Rohan Sinha, Christopher Agia +3
While foundation models offer promise toward improving robot safety in out-of-distribution (OOD) scenarios, how to effectively harness their generalist knowledge for real-time, dyn…
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions
Daniel Morton, Marco Pavone
Safe real-time control of robotic manipulators in unstructured environments requires handling numerous safety constraints without compromising task performance. Traditional approac…