17 citations · 17 across the 6 of their papers we have counts for
4 papers · 1 filter
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…