7 citations · 7 across the 5 of their papers we have counts for
5 papers
Motion Planning for Mobile Manipulators Navigating Doorways via Model Predictive Control
Kasra Sinaei, Kasun Weerakoon, Christopher Bradley +2
Navigating doorways is a fundamental capability for mobile manipulators operating in human environments, requiring coordinated motion between the mobile base and manipulator arm. T…
Safe Vision Language Action Models via Barrier Enhanced Flow Matching
Kasra Sinaei, Hung-Chieh Wu, Donald Ebeigbe
This article presents a modular inference framework that integrates Flow Matching generative models with formal Control Barrier Function (CBF) safety guarantees. Unlike existing me…
StratMamba: Strategic and Reactive Stream Partitioning for Path-Efficient LiDAR-Based Obstacle Avoidance
Hung-Chieh Wu, Xiaopan Zhang, Kasra Sinaei +6
This paper proposes StratMamba, a dual-stream Mamba-based temporal modeling architecture, to more efficiently capture long-horizon temporal dependencies required for robot navigati…
Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor
Pezhman Abdolahnezhad, Aghil Yousefi-Koma, Amirhosein Vedadi +3
In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, a…
Bipedal Locomotion Optimization by Exploitation of the Full Dynamics in DCM Trajectory Planning
Amirhosein Vedadi, Kasra Sinaei, Pezhman Abdolahnezhad +2
Walking motion planning based on Divergent Component of Motion (DCM) and Linear Inverted Pendulum Model (LIPM) is one of the alternatives that could be implemented to generate onli…