17 citations · 17 across the 6 of their papers we have counts for
7 papers
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…
Anytime Plug-and-Play Control with Contract-Based Distributed MPC
Sabrina Bodmer, Danilo Saccani, Melanie N. Zeilinger +1
A central challenge in many mobile multi-robot applications is that communication topologies are inherently time-varying. Agents may enter or exit the network and such changes cann…
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5
Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may violate deployment constraints. For task-space robot policies, generated…
SmallSatSim: A GPU-Accelerated Microgravity Robotics Toolkit for Planning, Control, and Policy Learning
David Schwartz, Alexander Hansson, Sabrina Bodmer +3
Microgravity rendezvous and close proximity operations (RPO) is a growing area of interest for applications spanning in-space assembly and manufacturing (ISAM), orbital debris reme…
Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
Hao Ma, Sabrina Bodmer, Andrea Carron +2
Diffusion models hold great potential in robotics due to their ability to capture complex, high-dimensional data distributions. However, their lack of constraint-awareness limits t…
Optimization-Based System Identification and Moving Horizon Estimation Using Low-Cost Sensors for a Miniature Car-Like Robot
Sabrina Bodmer, Lukas Vogel, Simon Muntwiler +5
This paper presents an open-source miniature car-like robot with low-cost sensing and a pipeline for optimization-based system identification, state estimation, and control. The ov…
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…