7 papers
Constrained Whole-Body Tracking for Humanoid Robots
Daniel Morton, Pranit Mohnot, Marco Pavone
Recent advances in reinforcement learning (RL) have demonstrated impressive whole-body agility for humanoid robots, yet ensuring safety and satisfying constraints -- particularly t…
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…
Long-Reach Robotic Cleaning for Lunar Solar Arrays
Stanley Wang, Velin Kojouharov, Long Yin Chung +2
Commercial lunar activity is accelerating the need for reliable surface infrastructure and routine operations to keep it functioning. Maintenance tasks such as inspection, cleaning…
Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures
Stanley Wang, Venny Kojouharov, Long Yin Chung +2
Future infrastructure construction on the lunar surface will require semi- or fully-autonomous operation from robots deployed at the build site. In particular, tasks such as electr…
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…
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…