3 papers
cs.RO2026
Curve-Induced Dynamical Systems on Riemannian Manifolds and Lie Groups
Saray Bakker, Martin Schonger, Tobias Löw +2
Deploying robots in household environments requires safe, adaptable, and interpretable behaviors that respect the geometric structure of tasks. Often represented on Lie groups and…
eess.SY2025
TamedPUMA: safe and stable imitation learning with geometric fabrics
Saray Bakker, Rodrigo Pérez-Dattari, Cosimo Della Santina +2
Using the language of dynamical systems, Imitation learning (IL) provides an intuitive and effective way of teaching stable task-space motions to robots with goal convergence. Yet,…
cs.RO2025
Pushing Through Clutter With Movability Awareness of Blocking Obstacles
Joris J. Weeda, Saray Bakker, Gang Chen +1
Navigation Among Movable Obstacles (NAMO) poses a challenge for traditional path-planning methods when obstacles block the path, requiring push actions to reach the goal. We propos…