6 citations · 7 across the 9 of their papers we have counts for
4 papers · 1 filter
Parameterized Fast and Safe Tracking (FaSTrack) using Deepreach
Hyun Joe Jeong, Zheng Gong, Somil Bansal +1
Fast and Safe Tracking (FaSTrack) is a modular framework that provides safety guarantees while planning and executing trajectories in real time via value functions of Hamilton-Jaco…
Safe Returning FaSTrack with Robust Control Lyapunov-Value Functions
Zheng Gong, Boyang Li, Sylvia Herbert
Real-time navigation in a priori unknown environment remains a challenging task, especially when an unexpected (unmodeled) disturbance occurs. In this paper, we propose the framewo…
SURESTEP: An Uncertainty-Aware Trajectory Optimization Framework to Enhance Visual Tool Tracking for Robust Surgical Automation
Nikhil U. Shinde, Zih-Yun Chiu, Florian Richter +4
Inaccurate tool localization is one of the main reasons for failures in automating surgical tasks. Imprecise robot kinematics and noisy observations caused by the poor visual acuit…
Object-centric Representations for Interactive Online Learning with Non-Parametric Methods
Nikhil U. Shinde, Jacob Johnson, Sylvia Herbert +1
Large offline learning-based models have enabled robots to successfully interact with objects for a wide variety of tasks. However, these models rely on fairly consistent structure…