102 citations · 204 across the 61 of their papers we have counts for
17 papers · 1 filter
Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds
Clinton Enwerem, John S. Baras, Calin Belta
Dexterous manipulation policies learned by imitation are typically evaluated for robustness to variation in scenes, objects, or instructions, but their performance across task exec…
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality
Clinton Enwerem, John S. Baras, Calin Belta
Mainstream plan-then-track approaches to multifingered grasp execution entail selecting a grasp, planning a collision-free trajectory, and tracking the resulting trajectory via a f…
FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis
Clinton Enwerem, John S. Baras, Calin Belta
Classical grasp quality metrics assume one deterministic friction coefficient and therefore cannot assess whether a grasp maintains force closure across plausible friction values.…
Learning-enabled Parameter Synthesis for Nonlinear Systems from Signal Temporal Logic
Alex Beaudin, Hanna Krasowski, Eric Palanques-Tost +2
Signal Temporal Logic (STL) is increasingly used to describe interpretable objectives and constraints for optimal control and learning methods, especially when no target time serie…
EquiDexFlow: Contact-Grounded SE(3)-Equivariant Dexterous Grasp Generative Flows
Clinton Enwerem, John S. Baras, Calin Belta
Most learned dexterous grasp generators relegate contact forces to a downstream verification step, so a kinematically-plausible pose can still violate the conditions for a stable p…