17 papers
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Do Vision-Language-Action Models Mean What They Say? On the Role of Faithfulness in Embodied Reasoning
Matthew Foutter, Matteo Cercola, Lena Wild +4
Embodied Chain-of-Thought has emerged as a promising mechanism to enhance robot decision-making and interpretability in black-box Vision-Language Action (VLA) models. However, whet…
Semantic Constraint Synthesis for Adaptive Trajectory Optimization via Large Language Models
Eleanor Brosius, Yuji Takubo, Daniele Gammelli +2
Trajectory optimization is a critical component for enabling safe and reliable autonomous operations in space exploration. As space missions increase in frequency, complexity, and…
Language-Conditioned Safe Trajectory Generation for Spacecraft Rendezvous
Yuji Takubo, Arpit Dwivedi, Sukeerth Ramkumar +4
Reliable real-time trajectory generation is essential for future autonomous spacecraft. While recent progress in nonconvex guidance and control is paving the way for onboard autono…
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…
Graph Neural Model Predictive Control for High-Dimensional Systems
Patrick Benito Eberhard, Luis Pabon, Daniele Gammelli +5
The control of high-dimensional systems, such as soft robots, requires models that faithfully capture complex dynamics while remaining computationally tractable. This work presents…