3 papers
eess.SY2026
Ro-To-Go! Robust Reactive Control with Signal Temporal Logic
Roland Ilyes, Lara Brudermüller, Nick Hawes +1
Signal Temporal Logic (STL) robustness is a common objective for optimal robot control, but its dependence on history limits the robot's decision-making capabilities when used in M…
cs.RO2026
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
cs.RO2026
Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation
Lara Brudermüller, Brandon Hung, Xinghao Zhu +4
We present a generative predictive control (GPC) framework that amortizes sampling-based Model Predictive Control (SPC) by bootstrapping it with conditional flow-matching models tr…