3 papers
cs.RO2026
Safe, Real-Time Active Model Discrimination and Fault Diagnosis for Nonlinear Systems via Differentiable Reachability
Xinpei Ni, Melkior Ornik, Glen Chou +1
We present a safe, real-time algorithm for active fault diagnosis and model discrimination for uncertain continuous-time nonlinear systems with process and measurement disturbances…
cs.RO2024
Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?
Huaijiang Zhu, Tong Zhao, Xinpei Ni +4
The tremendous success of behavior cloning (BC) in robotic manipulation has been largely confined to tasks where demonstrations can be effectively collected through human teleopera…
cs.RO2024
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Yuki Shirai, Tong Zhao, H. J. Terry Suh +5
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesi…